import buzzer
import sonar
import drive
import light
import time

xunhuan = None
juli = None


shengyin = buzzer.sound(500, 0.02, volume=100)
xunhuan = 1
while xunhuan == 1:
    juli = sonar.get_distance()
    if juli < 300:
        drive.drive((juli / 2.5), 0)
        shengyin.play()
        light.set_fill_light_brightness(100)
        time.sleep((juli / 1000))
        light.set_fill_light_brightness(0)
    else:
        light.set_fill_light_brightness(50)
        drive.drive(100, 0)
    if juli < 60:
        xunhuan = 0
        drive.drive(0, 0)
drive.drive(0, 0)