from PiBot import PiBot
import rospy

# Create a robot instance
robot = PiBot()

# Get distance from object using the front middle IR sensor
distance_from_object = robot.get_front_middle_ir()

# Drive towards object
robot.set_wheels_speed(15)

while distance_from_object > 0.2:
    rospy.sleep(0.05)
    distance_from_object = robot.get_front_middle_ir()
    print(robot.get_left_wheel_encoder())
    print(robot.get_right_wheel_encoder())
robot.set_wheels_speed(0)
print(robot.get_left_wheel_encoder())