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from pybricks.hubs import PrimeHub
from pybricks.parameters import Direction, Port
from pybricks.pupdevices import ColorSensor, Motor
from pybricks.tools import wait
from umath import ceil, floor

# Set up.
prime_hub = PrimeHub()
Line16 = ColorSensor(Port.C)
motorL = Motor(Port.E, Direction.COUNTERCLOCKWISE)
motorR = Motor(Port.F, Direction.CLOCKWISE)
SPEED = 50
KP = 2.5
KD = 10
error = 0
lastError = 0
PD = 0

def getLinePos16():
    if Line16.reflection() >= 0:
        return floor(Line16.reflection()) // 100 - 16
    else:
        return (ceil(Line16.reflection()) + 6399) // 100 - 16

def getLineWidth16():
    if Line16.reflection() >= 0:
        return floor(Line16.reflection()) % 100
    else:
        return (ceil(Line16.reflection()) + 6399) % 100


# The main program starts here.
while True:
    if getLineWidth16() > 10:
        motorL.dc(0)
        motorR.dc(0)
    else:
        error = getLinePos16()
        PD = error * KP + (error - lastError) * KD
        motorL.dc(SPEED + PD)
        motorR.dc(SPEED - PD)
        lastError = error
    wait(10)