def on_forever():    
    if maqueen.ultrasonic(PingUnit.CENTIMETERS) < 30 and maqueen.ultrasonic(PingUnit.CENTIMETERS) != 0:
        maqueen.motor_run(maqueen.Motors.M1, maqueen.Dir.CCW, 40)
        maqueen.motor_run(maqueen.Motors.M2, maqueen.Dir.CCW, 40)
        music.play_tone(Note.C, music.beat(BeatFraction.WHOLE))
        maqueen.write_led(maqueen.LED.LED_LEFT, maqueen.LEDswitch.TURN_OFF)
        maqueen.write_led(maqueen.LED.LED_RIGHT, maqueen.LEDswitch.TURN_OFF)
    elif maqueen.ultrasonic(PingUnit.CENTIMETERS) > 30 and maqueen.ultrasonic(PingUnit.CENTIMETERS) != 0:
        maqueen.motor_run(maqueen.Motors.M1, maqueen.Dir.CW, 40)
        maqueen.motor_run(maqueen.Motors.M2, maqueen.Dir.CW, 40)
        maqueen.write_led(maqueen.LED.LED_LEFT, maqueen.LEDswitch.TURN_ON)
        maqueen.write_led(maqueen.LED.LED_RIGHT, maqueen.LEDswitch.TURN_ON)

basic.forever(on_forever)