#!/usr/bin/env python
# -*- coding: utf-8
import struct, time
import kbhit
from RobotCommunication import SerialCommands
robot = SerialCommands('/dev/ttyAMA0',115200)
kb = kbhit.KBHit()
print robot.init()
if __name__ == '__main__':
robot.startLineFollowing(20) ###start line following with speed 1-127
while 1:
if kb.kbhit(): ### check if the key is pressed
key = kb.getch()
if key == 'r': ##if pressed "r" go from left to right lane
robot.laneChange(1)
if key == 'l': ##if pressed "l" go from right to left lane
robot.laneChange(-1)
if key == 's': ## if pressed "s" stop the robot
robot.init()
