from time import sleep
sleep(0.1)

print("Hello, Pi Pico!")

from machine import Pin, PWM

# r_sensor.value() = 1 - над линией

r_sensor = Pin(21, Pin.IN)
l_sensor = Pin(11, Pin.IN)

l_speed = PWM(Pin(16))
r_speed = PWM(Pin(15))
l_speed.freq(50)
r_speed.freq(50)

# 1500 - V вперёд max
# 4800 - Остановка мотора
# 8000 - V назад max

#l_speed.duty_u16(1500)
#r_speed.duty_u16(8000)

while True:
    sleep(0.1)
    print(r_sensor.value())
    if r_sensor.value() == 1:
        l_speed.duty_u16(1500)
        r_speed.duty_u16(3800) 
    else:
        l_speed.duty_u16(3800)
        r_speed.duty_u16(1500)