Python robot double line detector obstacle path algorithm

#!/usr/bin/env python3

# Import the necessary libraries
import time
import math
from ev3dev2.motor import *
from ev3dev2.sound import Sound
from ev3dev2.sensor import *
from ev3dev2.sensor.lego import *
from ev3dev2.sensor.virtual import *
from time import sleep

# Create the sensors and motors objects
motorA = LargeMotor(OUTPUT_A)
motorB = LargeMotor(OUTPUT_B)
left_motor = motorA
right_motor = motorB
tank_drive = MoveTank(OUTPUT_A, OUTPUT_B)
steering_drive = MoveSteering(OUTPUT_A, OUTPUT_B)

spkr = Sound()

color_sensor_in1 = ColorSensor(INPUT_1)
color_sensor_in2 = ColorSensor(INPUT_2)
ultrasonic_sensor_in3 = UltrasonicSensor(INPUT_3)
gyro_sensor_in4 = GyroSensor(INPUT_4)
gps_sensor_in5 = GPSSensor(INPUT_5)

motorC = LargeMotor(OUTPUT_C) # Magnet

# Here is where your code starts

move_value = 20

stop_value = 0
angle = 0
time_spent = 0

while True:
    c1 = color_sensor_in1.reflected_light_intensity
    c2 = color_sensor_in2.reflected_light_intensity

    if ultrasonic_sensor_in3.distance_centimeters_continuous < 25:
        left_value = stop_value
        right_value = stop_value

        # obstacle turn left first time
        temp_angle = gyro_sensor_in4.angle
        while gyro_sensor_in4.angle != temp_angle - 90:
            left_motor.on(0)
            right_motor.on(4)
    else:
        if c1 == c2:
            left_value = move_value
            right_value = move_value

            # turn right around obstacle
            if c1 == 100 and c2 == 100:
                time.sleep(0.8)
                time_spent += 1
                temp_angle = gyro_sensor_in4.angle
                if time_spent >= 3:
                    time_spent = 0
                    while gyro_sensor_in4.angle != temp_angle + 90:
                        left_motor.on(3)
                        right_motor.on(0)

        elif c1 > c2:
            left_value = move_value
            right_value = stop_value
        elif c2 > c1:
            left_value = stop_value
            right_value = move_value

        left_motor.on(left_value)
        right_motor.on(right_value)

        # Copyright Kamil Serafin 11.11.2020