import RPi.GPIO as io 
io.setmode(io.BCM) 

in1_pin = 4 
in2_pin = 17 
in3_pin = 23
in4_pin = 24

io.setup(in1_pin, io.OUT) 
io.setup(in2_pin, io.OUT) 
io.setup(in3_pin, io.OUT)
io.setup(in4_pin, io.OUT)

def set(property, value):
    try:
        f = open("/sys/class/rpi-pwm/pwm0/" + property, 'w')
        f.write(value)
        f.close()
    except:
        print("Error writing to: " + property + " value: " + value)
 
set("delayed", "0") 
set("mode", "pwm") 
set("frequency", "500") 
set("active", "1") 

def forward():
    io.output(in1_pin, True)
    io.output(in2_pin, False) 
    io.output(in3_pin, True)
    io.output(in4_pin, False)

def backward():
    io.output(in1_pin, False)
    io.output(in2_pin, True) 
    io.output(in3_pin, False)
    io.output(in4_pin, True)

def left():
    io.output(in1_pin, False)
    io.output(in2_pin, True)
    io.output(in3_pin, True)
    io.output(in4_pin, False)

def right():
    io.output(in1_pin, True)
    io.output(in2_pin, False)
    io.output(in3_pin, False)
    io.output(in4_pin, True)

def stop():
    io.output(in1_pin, False)
    io.output(in2_pin, False)
    io.output(in3_pin, False)
    io.output(in4_pin, False)


import time
import urllib2

lastMessage = 'stop'

speed = int(6) * 11
set("duty", str(speed))

while True:
    try:
    	req = urllib2.Request('http://livebots.cc/Robot/Message/25.html')
    	response = urllib2.urlopen(req)
    	html = response.read()
    	html=html.strip()
    	html=html.rstrip()
 	html=html.lstrip()
    	message = str(html).lower()
    
    	if message != lastMessage:
	    print(message)

	    if "forward" in message:
 	        forward()
  	    elif "backward" in message:
            	backward()
            elif "left" in message:
            	left()
            elif "right" in message:
            	right()
            elif "stop" in message:
            	stop()

    	    lastMessage = message
    except:
	print("Error");

    time.sleep(0.75)
    stop()