slate"><div class="highlight"><pre><span></span><span class="c1"># Actions to be executed while crossing the Area Callback region</span>
<span class="k">with</span> <span class="n">LightsHelper</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">robot</span><span class="p">,</span> <span class="mi">3</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">):</span>
    <span class="bp">self</span><span class="o">.</span><span class="n">block_un