def main():
    robot = Robot("outB", "outC")
    time = current_time()
    while True:

        directions = robot.process_colors(robot.register_colors(robot.forward_color()))
        print(directions)

        if len(directions) == 0:
            continue

        if Robot.WIN in directions:
            break

        print(directions)

        if len(directions) > 1 and Robot.D_BACKWARD in directions:
            directions.remove(Robot.D_BACKWARD)

        print(directions)
        print("----")

	time2 = current_time()

	while time < time2:
	    angle = robot.gyroscope.value()%360
            if 45 <= temp < 135:
		dir = "E"
	    elif 135 <= temp < 225:
		dir = "S"
	    elif 225 <= temp < 315:
		dir = "W"
	    else:
		dir = "N"

	    robot.textMap += dir
	    time += 100


        robot.rotate_to_direction(random.sample(directions, 1)[0])
        time = current_time()
        robot.forward(duration=500)