Logic

• move forward
• detect distance in front of the car
• if distance is too small, stop and rotate
• once distance is big enough, continue

Code

import Raspbot_Lib
from McLumk_Wheel_Sports import *
# McLumk_Wheel_Sports has already initialized a Raspbot() object called "bot"


def get_distance(bot):

    desired_block_length = 1
    low_bit_distance = bot.read_data_array(0x1A , 1)[0]
    high_bit_distance = bot.read_data_array(0x1B, 1)[0]
    return (high_bit_distance << 8)|low_bit_distance


if __name__ == "__main__":
    speed = 75
    rotation_multiplier = 0.05
    bot.Ctrl_Ulatist_Switch(1)
    time.sleep(0.1) # polling rate of 10Hz
    try:
        while True:
            if get_distance(bot) < 500: # 50  centimeters
                move_backward(rotation_multiplier*speed)
                time.sleep(0.2)
                stop_robot()
                rotate_left(speed*rotation_multiplier)
                time.sleep(0.5)
            else:
                move_forward(speed)
    except:
        stop_robot()
        bot.Ctrl_Ulatist_Switch(0)
        print("exiting the program...")