def navigateThroughWaypoints(wpts):
# myLoc = wpts[0]
canvas = Canvas()
r = robot(wpts, canvas)
startingLoc = r.getStartingLocation()
n_wpts = len(wpts)
for wp in wpts:
canvas.drawWaypoint(wp)
for i in range(n_wpts):
myLoc = r.navigateToWaypoint(wpts[(i + 1 + startingLoc) % n_wpts])
# myLoc = r.navigateToWaypoint_rt(wpts[(i + 1 + startingLoc) % n_wpts])
print("At location: {0}".format(myLoc))
time.sleep(1)
print '\a'
