"""My fourth robot."""
from PiBot import PiBot

robot = PiBot()


def go_straight():
    """Go straight."""
    robot.set_wheels_speed(14)
    robot.sleep(0.05)


def turn_around():
    """Turn 360 degrees."""
    r_rotations = robot.get_right_wheel_enconder()
    while robot.get_right_wheel_enconder() - r_rotations < 360:
        robot.set_left_wheel_speed(-13)
        robot.set_right_wheel_speed(13)
        print(robot.get_right_wheel_enconder())
    robot.set_wheels_speed(0)


# Robot peab seisma jääma kujuteldavas ringis, mis on ümber objekti raadiusega 10 cm.
while True:
    turn_around()