def Forward():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, neg, SuperBit.enMotors.M2, neg)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, neg, SuperBit.enMotors.M4, neg)
def Backward():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, pos, SuperBit.enMotors.M2, pos)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, pos, SuperBit.enMotors.M4, pos)
def Left():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, pos, SuperBit.enMotors.M2, neg)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, neg, SuperBit.enMotors.M4, pos)
def Right():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, neg, SuperBit.enMotors.M2, pos)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, pos, SuperBit.enMotors.M4, neg)
def Stop():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, 0, SuperBit.enMotors.M2, 0)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, 0, SuperBit.enMotors.M4, 0)
def ACW():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, pos, SuperBit.enMotors.M2, pos)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, neg, SuperBit.enMotors.M4, neg)
def CCW():
    SuperBit.motor_run_dual(SuperBit.enMotors.M1, neg, SuperBit.enMotors.M2, neg)
    SuperBit.motor_run_dual(SuperBit.enMotors.M3, pos, SuperBit.enMotors.M4, pos)
tag = 0
pos = 100
neg = -100
huskylens.init_i2c()
huskylens.init_mode(protocolAlgorithm.ALGORITHM_TAG_RECOGNITION)

def on_forever():
    global tag
    huskylens.request()

    tag = huskylens.readBox_s(Content3.ID)
    if tag == 1:
        Forward()
    elif tag == 2:
        Backward()
    elif tag == 3:
        Left()
    elif tag == 4:
        Right()
    basic.pause(200)
basic.forever(on_forever)