라즈베리 파이를 아두이노와 연결한후 아두이노에 pymata를 업로드하고 파이썬을 이용해 로봇 line following을 구현하고 있습니다.
 
​from PyMata.pymata import PyMata
import time
trig=9
echo=8
PWMA = 3      # PWM control (speed) for motor A - RIGHT WHEEL
DIRA = 12     # Direction control for motor A
PWMB = 11     # PWM control (speed) for motor B - LEFT WHEEL
DIRB = 13     # Direction control for motor B

# Motor settings
CW = 1   # clockwise
CCW = 0  # counter-clockwise
MOTOR_LEFT = 0 # left motor
MOTOR_RIGHT = 1 # right motor

# connection port
PORT = '/dev/ttyACM0'
# Create PyMata instance
board = PyMata(PORT, verbose=True)

def readIrSensor(pin):
    value = 1023 - board.analog_read(pin)
    return value

def colorFinder(sensorValue):
    THRESHOLD_IR = 800
    WHITE = 1
    BLACK = 0
    color = WHITE if sensorValue > THRESHOLD_IR else BLACK
    return color

#Ultrasonic sensor
board.sonar_config(trig,echo)
time.sleep(1)
while True:
  data = board.get_sonar_data()
  distance= data[trig]
  print 'distance: {} cm'.format(distance[1])
  time.sleep(.1)

# Set analog pins 0 and 1 to be analog input pins
board.set_pin_mode(rightIrSensorPin,board.INPUT,board.ANALOG)
board.set_pin_mode(leftIrSensorPin,board.INPUT,board.ANALOG)

# Set motor pwm & directions
def setMotor(PWM, DIR):
    board.set_pin_mode(PWM,board.PWM,board.DIGITAL)
    board.set_pin_mode(DIR,board.OUTPUT,board.DIGITAL)
    #time.sleep(0.5)

def setRightAndLeftMotors():
    setMotor(PWMA,DIRA)
    setMotor(PWMB,DIRB)


# Drive Motor
def driveMotor(motor, direction, speed):
    if (motor == MOTOR_RIGHT):
        board.analog_write(PWMA,speed)
        board.digital_write(DIRA,direction)
    elif (motor == MOTOR_LEFT):
        board.analog_write(PWMB,speed)
        board.digital_write(DIRB,direction)

# Robot Motion Control
def robotForward(power):  
    driveMotor(MOTOR_RIGHT,CCW,power)
    driveMotor(MOTOR_LEFT,CW,power)

def robotBackward(power):  
    driveMotor(MOTOR_RIGHT,CW,power)
    driveMotor(MOTOR_LEFT,CCW,power)

def robotRight(power):    
    driveMotor(MOTOR_RIGHT,CW,power)
    driveMotor(MOTOR_LEFT,CW,power)

def robotLeft(power):    
    driveMotor(MOTOR_RIGHT,CCW,power)
    driveMotor(MOTOR_LEFT,CCW,power)

def robotStop():
    power = 0
    driveMotor(MOTOR_RIGHT,CW,power)
    driveMotor(MOTOR_LEFT,CW,power)


def robotControl(colorLeftSensor, colorRightSensor):
   if colorLeftSensor == 0 and colorRightSensor == 0 :
       robotForward(100)
  
   elif colorLeftSensor == 0  and colorRightSensor == 1 :
       robotLeft(100)

   elif colorLeftSensor == 1 and colorRightSensor == 0 :
       robotRight(100)

   else:
       robotStop()

def Avoidence():
  
# Set Right and Left Motors
setRightAndLeftMotors()


while True:
  data = board.get_sonar_data()
  dist = data[trig]
  print 'distance: {} cm'.format(dist[1])
  time.sleep(1)
  
  if distance > 10 :
       Avoidence()

        # Read IR sensor values
        rightIrSensor = readIrSensor(rightIrSensorPin)
        leftIrSensor = readIrSensor(leftIrSensorPin)
  
        # Find color
        colorRightSensor = colorFinder(rightIrSensor)
        colorLeftSensor  = colorFinder(leftIrSensor)

        robotControl(colorLeftSensor, colorRightSensor)


위 코드를 실행했을 때 자꾸 syntax 에러가 납니다. 코드에서 틀린 부분이 있으면 알려주실 수 있을까요?