# numerator =
# denominator =
#
# line_dist = numerator/denominator;
#
# print("Distance from line = {:3.2f}".format(line_dist));
# t.sleep(0.1);
i2c = SoftI2C(scl=Pin("PB13"), sda=Pin("PB14"))
apds9960=APDS9960LITE(i2c)
speed = 70
while True:
IR_readingL = IR_sensorL.value()
IR_readingML = IR_sensorML.value()
IR_readingMR = IR_sensorMR.value()
IR_readingR = IR_sensorR.value()
dist = ultrasonic_sensor.distance_mm()
motorL.set_forwards()
motorR.set_forwards()
motorR.duty(speed)
motorL.duty(speed)
#print(IR_readingL, IR_readingML, IR_readingMR, IR_readingR)
if IR_readingML == 1 and IR_readingMR == 1 and IR_readingL == 0 and IR_readingR == 0:
motorR.duty(speed)
motorL.duty(speed)
