'''
CodeBot PT Practice #4
A remix of LineFollower1
'''
from botcore import *
from time import sleep

thresh = 1000 # Use a thresh value that works for your 'bot and line
is_reflective = False # Set for black line

SPEED = 30
SPEED_LIMIT = 0.8
motors.enable(True)

def drive(left, right):
    motors.run(LEFT, left * SPEED_LIMIT)
    motors.run(RIGHT, right * SPEED_LIMIT)

def calibrate(gap):
    global thresh, is_reflective
    if abs(gap) < 500:
        for i in range(3):
            leds.user(0b00011000)
            sleep(0.1)
            leds.user(0b00000000)
            sleep(0.1)
    else:
        is_reflective = line < ground
        thresh = round(ground + (gap/2))
        for i in range(3):
            spkr.pitch(500)
            sleep(0.1)
            spkr.pitch(1000)
            sleep(0.1)
            spkr.off()

# -- Main Program --
while True:
    if buttons.was_pressed(0):
        break
    elif buttons.was_pressed(1):
        sensors = ls.check(0)
        line = sensors[2]
        ground = sensors[0]
        gap = line - ground
        calibrate(gap)

while True:
    vals = ls.check(thresh, is_reflective)
    leds.ls(vals)

    if vals == (1, 0, 0, 0, 0):
        drive(-20, 50)
    elif vals == (1, 1, 0, 0, 0):
        drive(0, 60)
    elif vals == (0, 1, 1, 0, 0):
        drive(40, 80)
    elif vals == (0, 0, 1, 1, 0): # Center
        drive(100, 100)  
    elif vals == (0, 0, 0, 1, 0):
        drive(100, 80)
    elif vals == (0, 0, 0, 1, 0):
        drive(80, 40)
    elif vals == (0, 0, 0, 1, 1):
        drive(60, 0)
    elif vals == (0, 0, 0, 0, 1):
        drive(50, -20)