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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 floor

# Set up.
prime_hub = PrimeHub()
Line8 = ColorSensor(Port.C)
motorL = Motor(Port.E, Direction.COUNTERCLOCKWISE)
motorR = Motor(Port.F, Direction.CLOCKWISE)
SPEED = 50
KP = 5
KD = 20
error = 0
lastError = 0
PD = 0

def getLinePos8():
    return floor(Line8.reflection()) // 10 - 8

def getLineWidth8():
    return floor(Line8.reflection()) % 10


# The main program starts here.
while True:
    if getLineWidth8() > 5:
        motorL.dc(0)
        motorR.dc(0)
    else:
        error = getLinePos8()
        PD = error * KP + (error - lastError) * KD
        motorL.dc(SPEED + PD)
        motorR.dc(SPEED - PD)
        lastError = error
    wait(10)