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$ cat maqueen_line_following.py 

from microbit import i2c, display, button_a, button_b, sleep
from microbit import pin13 as ir_left_led, pin14 as ir_right_led
from microbit import accelerometer
from micropython import const

i2c.init()
i2c_addr = const(16)

speed = const(50)

def drive():
  i2c.write(i2c_addr, bytes((0,0,speed)))
  i2c.write(i2c_addr, bytes((2,0,speed)))

def turn_right():
  i2c.write(i2c_addr, bytes((0,0,speed*2)))
  i2c.write(i2c_addr, bytes((2,0,0)))

def turn_left():
  i2c.write(i2c_addr, bytes((0,0,0)))
  i2c.write(i2c_addr, bytes((2,0,speed*2)))

def stop():
  i2c.write(i2c_addr, bytes((0,0,0)))
  i2c.write(i2c_addr, bytes((2,0,0)))

def run():
  p = 0
  while True:
    if accelerometer.is_gesture('face up'):
      stop()
    else:
      i = ir_left_led.read_digital() + 2 * ir_right_led.read_digital()
      if i == 0:
        drive()
      elif i == 1:
        turn_right()
        p = i
      elif i == 2:
        turn_left()
        p = i
      else:
        if p == 1:
          turn_right()
        if p == 2:
          turn_left()

run()