text: #!/usr/bin/env python3
  from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4
  from ev3dev2.sensor.lego import ColorSensor
  from ev3dev2.motor import OUTPUT_A, OUTPUT_B, OUTPUT_C, OUTPUT_D
  from ev3dev2.motor import SpeedPercent, MoveTank, LineFollowErrorTooFast
  
  tank = MoveTank(OUTPUT_B, OUTPUT_C)
  tank.cs = ColorSensor(INPUT_1)
  try:
      tank.follow_line(
          kp=0.8, ki=0.25, kd=14,
          target_light_intensity = 30,
          follow_left_edge = True,
          speed=SpeedPercent(10)
      )
  except LineFollowErrorTooFast:
      tank.stop()
      raise