# Mission 6 - final code after obj. 8
from botcore import *
from time import sleep

thresh = 2000
is_reflective = False
SPEED = 30

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

def calibrate():
    global thresh, is_reflective
    sensors = ls.check(0)
    line = sensors[2]
    ground = sensors[0]
    gap = line - ground
    if abs(gap) < 500:
        spkr.pitch(200)
        sleep(0.2)
        spkr.off()
    else:
       is_reflective = line < ground
       thresh = round(ground + (gap/2))
       spkr.pitch(500)
       sleep(0.1)
       spkr.pitch(1000)
       sleep(0.1)
       spkr.off()

# --- Safety feature ---
while True:
    if buttons.was_pressed(0):
        break
    elif buttons.was_pressed(1):
        calibrate()

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

    if vals == (1, 0, 0, 0, 0):
        drive(0, 30)
    elif vals == (1, 1, 0, 0, 0):
        drive(15, 30)
    elif vals == (0, 0, 0, 1, 1):
        drive(30, 15)
    elif vals == (0, 0, 0, 0, 1):
        drive(30, 0)
    elif vals == (0, 1, 1, 0, 0):
        drive(35, 40)
    elif vals == (0, 0, 1, 1, 0):
        drive(40, 35)
    elif vals == (0, 0, 1, 0, 0):
        drive(40, 40)