{code}
import time
from rover import Rover

rover = Rover()

camera_horizontal = 0
camera_vertical = 0

grippers_vertical = 0

light = 0


class _GetchUnix:
    def __init__(self):
        import tty, sys

    def __call__(self):
        import sys, tty, termios
        fd = sys.stdin.fileno()
        old_settings = termios.tcgetattr(fd)
        try:
            tty.setraw(sys.stdin.fileno())
            ch = sys.stdin.read(1)
        finally:
            termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
        return ch


def writeMotors(leftA, leftB, rightA, rightB):
    rover.digital_write("MOTOR_L_A", leftA)
    rover.digital_write("MOTOR_L_B", leftB)
    rover.digital_write("MOTOR_R_A", rightA)
    rover.digital_write("MOTOR_R_B", rightB)

writeMotors(0,0,0,0)

def moveForward():
    writeMotors(1, 0, 1, 0)
    time.sleep(0.1)
    writeMotors(0,0,0,0)

    return


def moveBackward():
    writeMotors(0, 1, 0, 1)
    time.sleep(0.1)
    writeMotors(0,0,0,0)
    return


def moveLeft():
    writeMotors(0, 1, 1, 0)
    time.sleep(0.1)
    writeMotors(0,0,0,0)
    return


def moveRight():
    writeMotors(1, 0, 0, 1)
    time.sleep(0.1)
    writeMotors(0,0,0,0)
    return


def scan():
    print("scanned result", rover.scan())


def catch():
    rover.servo_write("GRIPPER_GRIP_LEFT", 100)
    rover.servo_write("GRIPPER_GRIP_RIGHT", 100)
    time.sleep(0.2)


def releaseCatched():
    rover.servo_write("GRIPPER_GRIP_LEFT", 0)
    rover.servo_write("GRIPPER_GRIP_RIGHT", 0)
    time.sleep(0.2)


def cameraUp():
    global camera_vertical

    if (camera_vertical > 10):
        camera_vertical -= 5

    rover.servo_write("CAMERA_VERTICAL", camera_vertical)


def cameraDown():
    global camera_vertical

    if (camera_vertical < 100):
        camera_vertical += 5

    rover.servo_write("CAMERA_VERTICAL", camera_vertical)


def cameraRight():
    global camera_horizontal

    if (camera_horizontal > 10):
        camera_horizontal -= 5

    rover.servo_write("CAMERA_HORIZONTAL", camera_horizontal)


def cameraLeft():
    global camera_horizontal

    if (camera_horizontal < 100):
        camera_horizontal += 5

    rover.servo_write("CAMERA_HORIZONTAL", camera_horizontal)


def grippersUp():
    global grippers_vertical

    if (grippers_vertical >= 5):
        grippers_vertical -= 5

    rover.servo_write("GRIPPER_VERTICAL", grippers_vertical)


def grippersDown():
    global grippers_vertical

    if (grippers_vertical < 100):
        grippers_vertical += 5

    rover.servo_write("GRIPPER_VERTICAL", grippers_vertical)


def toggleLight():
    global light

    if (light == 1):
        light = 0
        rover.digital_write("LIGHT", light)
    elif (light == 0):
        light = 1
        rover.digital_write("LIGHT", light)


def handle(char):
    if (char == 'w'):
        moveForward()
    elif (char == 'a'):
        moveLeft()
    elif (char == 's'):
        moveBackward()
    elif (char == 'd'):
        moveRight()
    elif (char == 'f'):
        scan()
    elif (char == '4'):
        cameraLeft()
    elif (char == '6'):
        cameraRight()
    elif (char == '8'):
        cameraUp()
    elif (char == '2'):
        cameraDown()
    elif (char == 'j'):
        catch()
    elif (char == 'l'):
        releaseCatched()
    elif (char == 'i'):
        grippersUp()
    elif (char == 'k'):
        grippersDown()
    elif (char == 'e'):
        toggleLight()


while True:
    time.sleep(0.01)

    c = _GetchUnix()()
    if (c == 'q'):
        break

    handle(c)
{code}