# Mission 6 (through Objective 6)
from botcore import *

thresh = 2000
is_reflective = False
SPEED = 30

# --- Safety feature ---
while True:
    if buttons.was_pressed(0):
        break

# === Main program ===
motors.enable(True)
while True:
    vals = ls.check(thresh, is_reflective)
    leds.ls(vals)

    if vals[0]:
        # Left edge hit, turn left
        motors.run(LEFT, 0)
        motors.run(RIGHT, SPEED)
    elif vals[4]:
        # Right edge hit, turn right
        motors.run(LEFT, SPEED)
        motors.run(RIGHT, 0)
    elif vals[1] or vals[2] or vals[3]:
        # Move forward
        motors.run(LEFT, SPEED)
        motors.run(RIGHT, SPEED)