import drive
import light
import time


while True:
  drive.drive_rpm(30, 100)
  if light.get_optical_sensor(1) < 50 or light.get_optical_sensor(3) < 50 or light.get_optical_sensor(5) < 50:
    drive.drive_rpm(-100, -100)
    time.sleep_ms(int(1000))
    drive.drive_rpm(100, -100)
    time.sleep_ms(int(2000))
    drive.stop_rpm(0)