import time
import board
import digitalio
import pwmio
from adafruit_motor import motor
import adafruit_hcsr04
# Sensors
SenL = digitalio.DigitalInOut(board.GP18)
SenL.direction = digitalio.Direction.INPUT
SenR = digitalio.DigitalInOut(board.GP13)
SenR.direction = digitalio.Direction.INPUT
buz = digitalio.DigitalInOut(board.GP8)
buz.direction = digitalio.Direction.OUTPUT
sonar = adafruit_hcsr04.HCSR04(trigger_pin=board.GP7, echo_pin=board.GP6)
# Left Motor
PWM_M1A = board.GP16
PWM_M1B = board.GP17
# Right Motor
PWM_M2A = board.GP14
PWM_M2B = board.GP15
# DC motor setup
# DC Motors generate electrical noise when running that can reset the
microcontroller in extreme
# cases. A capacitor can be used to help prevent this.
pwm_1a = pwmio.PWMOut(PWM_M1A, frequency=10000)
pwm_1b = pwmio.PWMOut(PWM_M1B, frequency=10000)
motorL = motor.DCMotor(pwm_1a, pwm_1b)
pwm_2a = pwmio.PWMOut(PWM_M2A, frequency=10000)
pwm_2b = pwmio.PWMOut(PWM_M2B, frequency=10000)
motorR = motor.DCMotor(pwm_2a, pwm_2b)
def Robot_Movement(sL, sR):
 motorL.throttle = sL
 motorR.throttle = sR
while True:
 if (sonar.distance > 15):
 if (SenL.value == 0) and (SenR.value == 1):
 Robot_Movement(0.5,-0.4)
 elif (SenL.value == 1) and (SenR.value == 0):
 Robot_Movement(-0.4, 0.5)
 else:
 Robot_Movement(0.5, 0.5)
 else :
 Robot_Movement(0 , 0)
 time.sleep(3)
 Robot_Movement(1 , 1)
 time.sleep(3)
 Robot_Movement(0 , 0)
 buz.value = True
 time.sleep(0.5)
 buz.value = False
 time.sleep(0.5)
 buz.value = True
 break