# IR.py
import RPi.GPIO as GPIO
import time
from time import sleep
from motorm import turn
def distance1():
    GPIO.output(trig_pin,True); time.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
    dis1=round(pulse_duration*sound_v/2,2)
    return dis1
#---------------ultra-sound pins-- 
GPIO.setmode(GPIO.BCM)
trig_pin=21; echo_pin=20;
GPIO.setup(trig_pin,GPIO.OUT)
GPIO.setup(echo_pin,GPIO.IN)
IRpin1=13
IRpin2=6
GPIO.setup(IRpin1,GPIO.IN,pull_up_down=GPIO.PUD_UP)
GPIO.setup(IRpin2,GPIO.IN,pull_up_down=GPIO.PUD_UP)
for j in range(1000):
    dis1=distance1(); 
    VP1=GPIO.input(IRpin1)
    VP2=GPIO.input(IRpin2)
    if(VP1==0 and VP2==1): DR=3
    if(VP1==1 and VP2==0): DR=7
    if(VP1==1 and VP2==1): DR=1
    print('j=',j,DR,'VP1,2=',VP1,VP2,' dis1='mdis1)
    if(dis1<30): continue
    if(DR==1): turn(0.3,0.3,0.1); turn(0,0,0.1)
    if(DR==3): turn(-0.3,0.3,0.1); turn(0,0,0.1)
    if(DR==7): turn(0.3,-0.3,0.1); turn(0,0,0.1)