#-------------Setup----------------

import Ed

Ed.EdisonVersion = Ed.V2

Ed.DistanceUnits = Ed.CM
Ed.Tempo = Ed.TEMPO_MEDIUM

#--------Your code below-----------
Ed.ObstacleDetectionBeam(Ed.ON)

Ed.Drive(Ed.FORWARD,Ed.SPEED_1,Ed.DISTANCE_UNLIMITED)

def stop():
    while True:
        Ed.Drive(Ed.STOP, 0, 1000)

for i in range(100):
    temp_score = 0
    total_score = 0
    if i % 4 == 1:
          temp_score = 0
          obstacle = Ed.ReadObstacleDetection()
          if obstacle > Ed.OBSTACLE_NONE:
            Ed.LeftLed(Ed.ON)
            Ed.RightLed(Ed.ON)
            Ed.PlayBeep()
            Ed.SendIRData(10)
            stop()
          else:
              temp_score = 0
              Ed.Drive(Ed.BACKWARD,Ed.SPEED_1,10)
              temp_score = victory()
              total_score += temp_score
              pass
    elif i % 4 == 2:
          temp_score = 0
          obstacle = Ed.ReadObstacleDetection()
          if obstacle > Ed.OBSTACLE_NONE:
            Ed.LeftLed(Ed.ON)
            Ed.RightLed(Ed.ON)
            Ed.PlayBeep()
            Ed.SendIRData(10)
            stop()
          else:
             temp_score = 0
             Ed.Drive(Ed.SPIN_RIGHT, Ed.SPEED_1, 90)
             Ed.Drive(Ed.FORWARD,Ed.SPEED_1,10)
             temp_score = victory()
             total_score += temp_score
             pass

    elif i % 4 == 3:
         temp_score = 0
         obstacle = Ed.ReadObstacleDetection()
         if obstacle > Ed.OBSTACLE_NONE:
            Ed.LeftLed(Ed.ON)
            Ed.RightLed(Ed.ON)
            Ed.PlayBeep()
            Ed.SendIRData(10)
            stop()
         else:
              temp_score = 0
              Ed.Drive(Ed.SPIN_LEFT, Ed.SPEED_1, 90)
              Ed.Drive(Ed.FORWARD,Ed.SPEED_1,10)
              temp_score = victory()
              total_score += temp_score
              pass

    elif i % 4 ==0:
          temp_score = 0
          obstacle = Ed.ReadObstacleDetection()
          if obstacle > Ed.OBSTACLE_NONE:
            Ed.LeftLed(Ed.ON)
            Ed.RightLed(Ed.ON)
            Ed.PlayBeep()
            Ed.SendIRData(10)
            stop()
          else:
              temp_score = 0
              Ed.Drive(Ed.FORWARD, Ed.SPEED_1, 10)
              temp_score = victory()
              total_score += temp_score
              pass

    if total_score == 4:
        while True:
             Ed.PlayBeep()
             Ed.Drive(Ed.SPIN_RIGHT,Ed.SPEED_1,360)

def victory():
    if Ed.ReadIRData() == 10:
        return 1