"""Kekich"""
from PiBot import PiBot
robot = PiBot()
'''[0] - left left
    [1] - left
    [2] - middle left
    [3] - right
    [4] - right right
    [5] - middle right'''


listmove = robot.get_line_sensors()
while True:
    if listmove[2] < 255 or listmove[5] < 255:
        robot.set_wheels_speed(10)
        print("set_wheels")
        robot.sleep(0.5)
        listmove = robot.get_line_sensors()
        print("idu nahuy prjamo")
       else:
        if listmove[0] < 255 or listmove[1] < 255:
            robot.set_left_wheel_speed(-10)
            robot.set_right_wheel_speed(10)
            robot.sleep(0.5)
            listmove = robot.get_line_sensors()
            print("levo suka")
        elif listmove[3] < 255 or listmove[4] < 255:
            robot.set_right_wheel_speed(10)
            robot.set_left_wheel_speed(-10)
            robot.sleep(0.5)
            listmove = robot.get_line_sensors()
            print("sosu pravo")
        else:
            robot.get_rotation()
            robot.sleep(0.5)
            listmove = robot.get_line_sensors()
            print("nazad sooqa")