'''
Mission 7, Objective 5
'''
from botcore import *
from time import sleep

power = 4
thresh = 50

def cal_thresh():
    global thresh
    det = 101
    sensed = prox.range(10, power)
    if sensed[LEFT] > 0:
        det = sensed[LEFT]
    if sensed[RIGHT] > 0:
        det = min(det, sensed[RIGHT])
    if det > 100:
        thresh = 100
    else:
        thresh = det - 5
    print("Sensed=", sensed, ", set thresh=", thresh)

# -- Main Program --
while True:
    if buttons.was_pressed(1):
        cal_thresh()

    p = prox.detect(power, thresh)
    leds.prox(p)