import RPi.GPIO as GPIO
from motorm import turn
import time
from time import sleep

trig_pin = 20
echo_pin = 21
trig_pin2 = 24
echo_pin2 = 18
GPIO.setmode(GPIO.BCM)
GPIO.setup(trig_pin, GPIO.OUT)
GPIO.setup(echo_pin, GPIO.IN)
GPIO.setup(trig_pin2, GPIO.OUT)
GPIO.setup(echo_pin2, GPIO.IN)

def distance1():
    GPIO.output(trig_pin, True)
    sleep(0.00001)
    GPIO.output(trig_pin, False)
    pulse_start = time.time()
    pulse_end = time.time()
    while GPIO.input(echo_pin) == 0:
        pulse_start = time.time()
    while GPIO.input(echo_pin) == 1:
        pulse_end = time.time()
    pulse_duration = pulse_end - pulse_start
    sound_v = 34300 #cm/s
    distance = pulse_duration*sound_v/2
    return distance


def distance2():
    GPIO.output(trig_pin2, True)
    sleep(0.00001)
    GPIO.output(trig_pin2, False)
    pulse_start = time.time()
    pulse_end = time.time()
    while GPIO.input(echo_pin2) == 0:
        pulse_start = time.time()
    while GPIO.input(echo_pin2) == 1:
        pulse_end = time.time()
    pulse_duration = pulse_end - pulse_start
    sound_v = 34300 #cm/s
    distance2 = pulse_duration*sound_v/2
    return distance2


def ultsound():
    D=20
    dis1 = distance1(); dis1=round(dis1,1)
    dis2 = distance2(); dis2=round(dis2,1)
    if(dis1>D and dis2 >D): DR=1
    if(dis1>D and dis2<=D): DR=7 
    if(dis1<D and dis2>=D): DR=3
    if(dis1<D and dis2 <D): DR=0
    return DR,dis1,dis2