Python program to move in straight line with the gyro sensor from LEGO Education SPIKE Prime

from spike import PrimeHub, LightMatrix, Button, StatusLight, ForceSensor, MotionSensor, Speaker, ColorSensor, App, DistanceSensor, Motor, MotorPair
from spike.control import wait_for_seconds, wait_until, Timer
from math import *

hub = PrimeHub()

motorA = Motor('A')
motorB = Motor('B')

motorA.set_default_speed(-30)
motorB.set_default_speed(30)

wait_for_seconds(1) # Wait for one second.
hub.motion_sensor.reset_yaw_angle() # Reset the Gyro sensor. The current yaw angle value is equal to 0.

while True: # Repeat forever.
    if hub.motion_sensor.get_yaw_angle() < 0:
        motorA.start()
        motorB.stop()
    else:
        motorB.start()
        motorA.stop()