press = 's'
moving(press)
if (lineSensors.check2() == 1):
press = 'a'
counter = 0
while (lineSensors.check4() == 0):
longrange.rangesens()
if (counter == 7):
break
counter = counter + 1
longrange.rangesens()
moving(press)
press = 'w'
moving(press)
if (lineSensors.check4() == 1):
press = 'd'
counter = 0
while (lineSensors.check2() == 0):
if (counter == 7):
break
counter = counter + 1
longrange.rangesens()
moving(press)
press = 'w'
moving(press)
shortrange.rngsens()
longrange.rangesens()
except KeyboardInterrupt:
motor1.motor_clean_up()
motor2.motor_clean_up()
if (counter == 7):
break
counter=counter +1
longrange.rangesens()
moving(press)
press = 'w'
moving(press)
if(lineSensors.check4()==1):
press='d'
counter= 0
while(lineSensors.check2()==0):
if (counter == 7):
break
counter=counter +1
longrange.rangesens()
moving(press)
press = 'w'
moving(press)
shortrange.rngsens()
longrange.rangesens()
except KeyboardInterrupt:
motor1.motor_clean_up()
motor2.motor_clean_up()
