from time import sleep
sleep(0.1)

print("Hello, Pi Pico!")

from machine import Pin, PWM, ADC

# r_sensor.value() = 1 - над линией 

r_sensor = ADC(Pin(27))
# < белого - 25000, 63000 - чёрный
# серый - 45000
l_sensor = ADC(Pin(26))

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

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

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

while True:
    sleep(0.1)
    r_sensor_value = r_sensor.read_u16()
    delta = r_sensor_value - 45000
    print(delta)