'''use IR sensor as head to focus on beacon
'''
import time
from sensor import IRSeeker
from motor import Motor
from move import MoveTank
import leds
import sound
ir = IRSeeker()
head_motor = Motor('A')
head_motor.position = 0
head_motor.brake_mode = 'off'
head_motor.regulation_mode = 'on'
head_motor.ramp_up = 300
head_motor.ramp_down = 300
head_motor.speed_setpoint = 20
move = MoveTank(0.15)
head_scan_direction = 1
scanning = False
state_changed = False
try:
while True:
heading, distance = ir.heading_and_distance
last_scanning = scanning
if distance > 0:
head_motor.run_mode = 'forever'
