from gpiozero import DistanceSensor
from gpiozero import Servo
from time import sleep
import random

sensor = DistanceSensor(echo=5, trigger=19)

def scanLeft():
    myGPIO = 6
    scanLeft = Servo(myGPIO)
    for x in range(8):
        randomLeft = random.uniform(-0.3, 0.3)
        sleep(0.005)
        scanLeft.value = randomLeft
        print(scanLeft.value)

def scanRight():
    myGPIO = 13
    scanRight = Servo(myGPIO)
    for x in range(8):
        randomRight = random.uniform(-0.3, 0.3)
        sleep(0.005)
        scanRight.value = randomRight
        print(scanRight.value)


def leftForward():
    myGPIO=6
    myCar=Servo(myGPIO)
    for x in range(10):
        sleep(0.005)
        myCar.value = 1

def rightForward():
    myGPIO=13
    myCar=Servo(myGPIO)
    for x in range(10):
        sleep(0.005)
        myCar.value = 1

def backward():
    myGPIO=6
    myGPIO1=13

    myCar=Servo(myGPIO)
    myCar1=Servo(myGPIO1)

    for x in range(4):
        sleep(0.5)
        myCar.value=-0.4
        myCar1.value=-0.4
while True:
    sleep(0.01)
    distance = sensor.distance * 100
    if distance <= 20 and distance > 6:
        leftForward()
        distance = sensor.distance * 100
        rightForward()
    elif distance <= 5:
        backward()

    elif distance > 20:
        scanLeft()
        distance = sensor.distance * 100
        scanRight()
    distance = sensor.distance * 100

    print(distance)