import time
time.sleep(0.1) # Wait for USB to become ready

print("Hello, Pi Pico!")
from machine import Pin, PWM
r_sens = Pin(22, Pin.IN)
l_sens = Pin(7, Pin.IN)
# r_sens.value() = 1 - над линией
left_speed = PWM(Pin(15))
right_speed = PWM(Pin(16))
left_speed.freq(50)
right_speed.freq(50)
# 1500 - V вперёд max
# 4800 - Остановка мотора
# 8000 - V назад max


while True:
    time.sleep(0.1)
    print(r_sens.value())
    if r_sens.value() == 1 and l_sens.value()==1:
        left_speed.duty_u16(1500)
        right_speed.duty_u16(1500)
    else if r_sens.value() == 1 and l_sens.value()==0:
        left_speed.duty_u16(2000)
        right_speed.duty_u16(2000)
    else if r_sens.value() == 1:
        left_speed.duty_u16(4800)
        right_speed.duty_u16(1500)
    else if r_sens.value() == 1:
        left_speed.duty_u16(1500)
        right_speed.duty_u16(3500)
    else :
        left_speed.duty_u16(3500)
        right_speed.duty_u16(1500)