# Initialize hub and sensor
from pybricks.pupdevices import *
from pybricks.parameters import Port
from pybricks.tools import wait

ultraschallsensor = UltrasonicSensor(Port.C)
motor1 = Motor(Port.A)
motor2 = Motor(Port.D)
licht = Light(Port.B)
speed = 30
repitions = 10
#A: Ultraschallsensor
#B: Lichter
#C: First motor
#D: Second motor

print('start')
while True:
    wait(100)

    if ultraschallsensor.distance() < 235:
        print(ultraschallsensor.distance())
        wait (100)

        for x in range(repitions):
            for y in range(80):
                licht.on(y+10)
                wait(10)
            for y in range(80):
                licht.on(90-y)
                wait(10)

            if x == 1:
                motor1.dc(20)
                motor2.dc(20)
            elif x == repitions-2:
                motor1.dc(-40)
                motor2.dc(-40)
            else:
                motor1.stop()
                motor2.stop()
        licht.off()
        wait(200)