#Escape the maze!

from myro import *
init("/dev/rfcomm1")


def evade():
    """ Express our displeasure at being blocked, and
        avoid the obstacle"""

    #Displeasure
    setLEDBack(1.0)
    beep(0.15,880,881)
    beep(0.20,564,564)
    setLEDBack(0.0)

    #Avoidance
    forward(1,0.5)
    turnLeft(1,0.3)


def mainLoop():
    free = False
    while( not free):
        
        # Head "backwards" unless something appears
        # in front of us or 3 seconds are up.
        while( timeRemaining(3)):
            l,r = getIR()
            backward(0.65)
            if( l == 0 or r == 0):
                stop()
                print "IR sensor hit!"
                evade()
                
        turnLeft(1)          #Stutter step to avoid
        beep(0.1,1200,1201)  #unsensed things every 3 seconds
    
        


mainLoop()