robot1.py

import time
from gpiozero import CamJamKitRobot
from gpiozero import DistanceSensor

#Defining pins for Distance
pinTrigger = 17
pinEcho = 18
leftMotorSpeed = 0.8
rightMotorSpeed = 0.8
sensor = DistanceSensor(echo=pinEcho, trigger=pinTrigger)
robot = CamJamKitRobot()
forward = (leftMotorSpeed, rightMotorSpeed)
right = (0, rightMotorSpeed)
left = (leftMotorSpeed, 0)

wallDistance = 40.0

def test():
	str('Hello')
	return str

def start():
	robot.value = forward
def stop():
	robot.stop()

def howFarAmI ():
	while True:
		dist = sensor.distance * 100
		print(int(dist))	
		return dist
def leftMotor ():
	return leftMotorSpeed

def rightMotor ():
	return rightMotorSpeed
def followWall():
	#while True:
	counter = 0
	while (counter <= 50): #we can change the value depending on how long we want to run the robot
		counter = counter + 1
		distance = sensor.distance * 100
		print ("Distance before moving: %.1f cm" % distance)
		robot.value = forward
		time.sleep(0.2)
		print ("went straight")
		dist2 = sensor.distance * 100
		if (dist2 > 10+ wallDistance):
			print ("went left")
			robot.value = left
			time.sleep (0.05)
			dist3 = sensor.distance * 100
		
			if (dist3  > 88):
				print ("went nested right")
				robot.value  = right
				time.sleep(0.05)
		elif (dist2 < wallDistance -10):
			print ("went outer right")
			robot.value = right
			time.sleep(0.05)
		else:
			print ("went else straight")
			robot.value = forward
			time.sleep(0.3)
		robot.stop()
	#counter = counter + 1