"""I hate robots."""
from PiBot import PiBot

robot = PiBot()


def find_object():
    """Find object pls work."""
    front = robot.get_front_left_laser()
    action = 0
    print(front)
    while True:
        if action == 0:
            left_middle_front = robot.get_front_middle_laser()
            robot.set_left_wheel_speed(8)
            robot.set_right_wheel_speed(-8)
            robot.sleep(0.07)

            left_middle_front1 = robot.get_front_middle_laser()

            print(f"Lasers: {robot.get_front_lasers()}")

            difference = 0
            if left_middle_front < 2.0 or left_middle_front1 < 2.0:
                difference = left_middle_front - left_middle_front1
                print(difference)

            if abs(difference) > 0.21:
                robot.set_wheels_speed(0)
                robot.sleep(1)
                # action = 1
                print("Here you are!")
                return move_by_encoders()


def move_by_encoders():
    """Move by encoders."""
    robot.set_wheels_speed(0)
    robot.sleep(1)
    encoders = [abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder())]

    print(f"Right encoder: {robot.get_right_wheel_encoder()}")
    print(f"Left encoder: {robot.get_left_wheel_encoder()}")

    if encoders[0] > encoders[1]:
        print("Right encoder has bigger value.")
        while abs(robot.get_right_wheel_encoder()) != abs(robot.get_left_wheel_encoder()):
            print(abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder()))
            robot.set_right_wheel_speed(8)
            robot.sleep(0.05)

    elif encoders[0] < encoders[1]:
        print("Left encoder has bigger value.")
        while abs(robot.get_right_wheel_encoder()) != abs(robot.get_left_wheel_encoder()):
            print(abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder()))
            robot.set_left_wheel_speed(-8)
            robot.sleep(0.05)

        print("All good.")
        print(abs(robot.get_right_wheel_encoder()), abs(robot.get_left_wheel_encoder()))
        robot.set_wheels_speed(0)
    robot.get_front_middle_laser()
    stop = robot.get_front_middle_laser()
    if stop > 0.09:
        while not 0.105 > stop > 0.09:
            robot.get_front_middle_laser()
            stop = robot.get_front_middle_laser()
            print(stop)
            robot.set_left_wheel_speed(9)
            robot.set_right_wheel_speed(9)
            robot.sleep(0.1)

    robot.set_wheels_speed(0)
    return False


if __name__ == '__main__':
    find_object()