from time import sleep
import robot

POWER = 70

TURN_T = 0.079 # 10 degrees
DRIVE_T = 0.22 # 10 centimeter

RIGHT_WHEEL_OFFSET = 4

CLOCKWISE_OFFSET = 0.82

def loop(arlo):
    while True:
        arlo.go_diff(POWER, 42, 1, 1)
        sleep(DRIVE_T * 26)
        arlo.stop()

        arlo.go_diff(40, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
        sleep(DRIVE_T * 26)
        arlo.stop()

def clockwise_square(arlo):
    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
    sleep(TURN_T * 0.5)
    arlo.stop()
    sleep(0.5)

    for _ in range(4):
        # Driving forward
        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
        sleep(DRIVE_T * 10)
        arlo.stop()

        sleep(1)

        # Turning 90 degrees
        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
        sleep(TURN_T * 10 * CLOCKWISE_OFFSET)
        arlo.stop()
        sleep(0.2)
        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
        sleep(TURN_T)
        arlo.stop()


        sleep(1)

def counter_square(arlo):
    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
    sleep(TURN_T * 0.5)
    arlo.stop()
    sleep(0.5)

    for _ in range(4):
        # Driving forward
        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
        sleep(DRIVE_T * 10)
        arlo.stop()

        sleep(0.5)

        # Turning 90 degrees
        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
        sleep(TURN_T * 10)
        arlo.stop()
        sleep(0.2)
        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
        sleep(TURN_T)
        arlo.stop()

        sleep(0.5)

def main():
    # Initializes the robot and runs the
    arlo = robot.Robot()

    try:
        loop(arlo)

    except KeyboardInterrupt:
        arlo.stop()


if __name__ == "__main__":

    main()