from gpiozero import Robot
from gpiozero import DistanceSensor
from gpiozero import LED
from time import sleep

leftPins = (21, 16)
rightPins = (12, 1)

robot = Robot(left=leftPins, right=rightPins)

sensorLeft = DistanceSensor(echo=14, trigger=15, queue_len=10)
sensorRight = DistanceSensor(echo=24, trigger=23, queue_len=10)

led = LED(pin=18)

led.blink(1, 1, 2, background=False)

while True:
    if sensorLeft.distance < 0.4:
        #led.value = True
        robot.backward()
        sleep(0.5)
        robot.right()
        sleep(0.5)
    if sensorRight.distance < 0.4:
        led.value = True
        robot.backward()
        sleep(0.5)
        robot.left()
        sleep(0.5)
    robot.forward(0.5)
    led.value = False
    sleep(0.1)