import RPi.GPIO as GPIO
import time

GPIO.setwarnings(False)
GPIO.setmode(GPIO.bcm)

motorL = [2,3,4,17]
motorR = [27,22,10,9]

def setupMotor(motor):
    for pin in motor:
        GPIO.setup(pin, GPIO.OUT)
        GPIO.output(pin, 0)

setupMotor(motorL)
setupMotor(motorR)

ccw = [[1,0,0,0],
       [0,1,0,0],
       [0,0,1,0],
       [0,0,0,1]]

cw  = [[0,0,0,1],
       [0,0,1,0],
       [0,1,0,0],
       [1,0,0,0]]

def resetMotor(motor):
    for pin in range(len(motor)):
        GPIO.output(motor[pin], 0)

def resetMotors():
    resetMotor(motorL)
    resetMotor(motorR)

def turn(direction = ""):
    if direction == "left":
        for i in range(256):
            move(cw, cw)
    elif direction == "right":
        for i in range(256):
            move(ccw, ccw)
    else:
        for i in range(512):
            move(ccw, ccw)

vastAfstand = 41

def vastForward(vastAfstand):
	for i in range(vastAfstand):
	move (ccw, cw)

def forward(steps):
	for i in range (steps):
	move (ccw, cw)

lichtSensor = [14,15,18]

for pin in lichtSensor:
    GPIO.setup(pin, GPIO.IN)


#main loop

try:

while True (l = 1, m = 1, r = 1):
	vastForward(1)
	turn (1)
	else
	forward(1)

exception KeyboardInterrupt:

print ("exception")