import Adafruit_BBIO.PWM as PWM
import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.ADC as ADC
import time

ADC.setup()
servoPin="P8_13"
echo = "P9_12"
trig = "P9_15"
led = "P9_41"

GPIO.setup(trig,GPIO.OUT)
GPIO.setup(echo,GPIO.IN)

GPIO.setup(led,GPIO.OUT)

analogPin="P9_40"


PWM.start(servoPin,2.6,60)

def ultra_sonic():
    pulse_start = 0
    pulse_end = 0

    GPIO.output(trig, GPIO.LOW)

    GPIO.output(trig, GPIO.HIGH)
    time.sleep(0.00001)
    GPIO.output(trig, GPIO.LOW)
    while GPIO.input(echo)==0:
      pulse_start = time.time()

    while GPIO.input(echo)==1:
      pulse_end = time.time()

    pulse_duration = pulse_end - pulse_start

    distance = pulse_duration * 17150

    distance = round(distance, 2)

    if distance <= 10:
        print "close"
    else:
        pass

def move(duty):
    PWM.set_duty_cycle(servoPin,duty)
    time.sleep(0.01)
    ultra_sonic()

while 1:

    potVal=ADC.read(analogPin)
    duty = potVal * 5.43
    if (duty < 1):
        duty = 0.60 * 5.43
    move(round(duty, 2))