line4.py

import pi2go, time

pi2go.init()

# Here we set the speed to 60 out of 100 - feel free to change!
speed = 65
count = 0
isLeft = 0

disError = 10000
speedSpin = 40
countToGet = 0

try:
    while True:
        countToGet += 1
        if countToGet > 1000000:
            distance = pi2go.getDistance()
            print(distance)

            if distance < 5:
                spinCount = 100000
                while spinCount > 0:
                    print("-----------------------", distance)
                    pi2go.spinLeft(speed)
                    spinCount -= 1

            countToGet = 0

        # Defining the sensors on the bottom of the Pi2Go
        left = pi2go.irLeftLine()
        right = pi2go.irRightLine()

        if left == right: # If both sensors are the same (either on or off):
        # Forward
        if left:
            count += 1
        if count > disError:
            if isLeft:
                pi2go.spinRight(speed)
                print("Left >")
            else:
                print("Right >")
                pi2go.spinLeft(speed)
            count -= 1
        print("Thang", count, isLeft)

            pi2go.forward(speed)
        elif left == True: # If the left sensor is on
            print("Trai")
            count = 0
            isLeft=1
            pi2go.spinRight(speedSpin)
        elif right == True: #If the right sensor is on
            # Right
            isLeft=0
            count = 0
            print("Phai")
            pi2go.spinLeft(speedSpin)

finally: # Even if there was an error, cleanup
    pi2go.cleanup()