"""Robot finds object."""

from PiBot import PiBot

robot = PiBot()


def wheels_speed(left, right):
    """Get wheels speed."""
    robot.set_left_wheel_speed(left)
    robot.set_right_wheel_speed(right)


def robot_go(sleep, left, right):
    """Robot go."""
    wheels_speed(left, right)
    robot.sleep(sleep)


if __name__ == '__main__':
    data = []
    while robot.get_rotation() <= 360:
        robot_go(0.05, -10, 10)
        laser = robot.get_front_middle_laser()
        direction = robot.get_rotation()
        data.append((direction, laser))
        print(data)
    wheels_speed(0, 0)

    distance = 0
    difference = 0
    direction = 0
    for element in range(len(data) - 1):
        for i in data[element]:
            difference = abs(data[element][1] - data[element + 1][1])
            if difference / 2 < data[element][1]:
                distance = data[element][1]
                direction = data[element][0]

    while robot.get_front_middle_laser() > distance:
        robot_go(0.05, -10, 10)
        print(robot.get_front_middle_laser())
        print(robot.get_rotation())
    wheels_speed(0, 0)