if mode is JUST_STARTED:
    mode = STAB_TO_SEARCH_FOR_THE_SUN

elif mode is STAB_TO_SEARCH_FOR_THE_SUN:
    if speed < -4:
        speed_goal = -4
    elif -4 < speed < 4:
        if  abs(speed - -4) < abs(speed - 4):
            speed_goal = -4
        else:
            speed_goal = 4
    else: #speed > 4
        speed_goal = 4

    if abs(speed - speed_goal) < 0.5:
        mode = SEARCH_FOR_THE_SUN

elif mode is SEARCH_FOR_THE_SUN:
    '''
        s_sun[][] - Массив данных с солнечных датчиков.
        s_sun[номер_датчика][ячейка данных].
            Ячейки данных:
                0 - 1й поддатчик
                1 - 2й поддатчик
                2 - среднеквадратичное двух поддатчиков

    '''
    max_sensor_n = find_max_sensor_n(s_sun[0][2],
                                     s_sun[1][2],
                                     s_sun[2][2],
                                     s_sun[3][2])

    if s_sun[max_sensor_n][2] < SUN_TRESHOLD:
        return

    sun_diff = abs(s_sun[max_sensor_n][0] - s_sun[max_sensor_n][1])

    if sun_diff < SUN_DIFF_TRESHOLD and sun_diff < best_sun_diff:
        azimuth_to_sun = (s_azimuth + max_sensor_n * 90) % 360  # s_azimuth - азимут с датчика
        best_sun_diff = sun_diff
    else:
        mode = TURN_TO_GOAL_ANGLE

elif mode == TURN_TO_GOAL_ANGLE:
    ...



def find_max_sensor_n(v0, v1, v2, v3):
    max_v = v0
    max_v_n = 0

    if v1 > max_v:
        max_v = v1
        max_v_n = 1

    if v2 > max_v:
        max_v = v2
        max_v_n = 2

    if v3 > max_v:
        max_v = v3
        max_v_n = 3

    return max_v_n