Take a look at this code for a line following robot that I'm coding that is supposed to follow a predermined track. 
from time import sleep  # Import the time library for the sleep function
from basehat import Button, LineFinder, IMUSensor
from buildhat import Motor, ColorSensor

# Initialize motors and sensors
motorA = Motor('A')
motorB = Motor('B')
lineFinderL = LineFinder(24)
lineFinderR = LineFinder(26)
IMU = IMUSensor()
colorPort = "C"
color = ColorSensor(colorPort)

def control_motors(speedA, speedB):
    """Starts both motors with given speeds."""
    motorA.start(speedA)
    motorB.start(speedB)

def stop_motors():
    """Stops both motors."""
    motorA.stop()
    motorB.stop()

def rightTurn(valL, valR):
    """Performs a right turn based on line finder values."""
    if valL == 0 and valR == 0:
        control_motors(100, -100)  # Forward
    elif valL == 0 and valR == 1:
        control_motors(100, 100)   # Right
    elif valL == 1 and valR == 0:
        control_motors(-100, -100) # Left
    else:
        control_motors(100, 0)     # Slow right

def leftTurn(valL, valR):
    """Performs a left turn based on line finder values."""
    if valL == 0 and valR == 0:
        control_motors(100, -100)  # Forward
    elif valL == 0 and valR == 1:
        control_motors(100, 100)   # Right
    elif valL == 1 and valR == 0:
        control_motors(-100, -100) # Left
    else:
        control_motors(0, -100)     # Slow left

def straight():
    """Keeps the robot moving straight by balancing motor encoders."""
    control_motors(100, -100)
    if abs(encoderA) + 100 < abs(encoderB):
        control_motors(100, 100)
    elif abs(encoderA) > abs(encoderB) + 100:
        control_motors(-100, -100)

def place_cargo():
    """Function for placing cargo."""
    print("Cargo placed.")

# Initialize encoder positions
initialPositionA = motorA.get_position()
initialPositionB = motorB.get_position()

# Initialize state machine variables
phase = 1
magnet_count = 0
state = 'LEFT_TURN'
magnet_detected_last = False  # To prevent multiple counts for a single magnet

try:
    while True:
        # Read encoder values
        encoderA = motorA.get_position() - initialPositionA
        encoderB = motorB.get_position() - initialPositionB

        # Read line finder values
        valL, valR = lineFinderL.value, lineFinderR.value

        # Debugging information
        print(f"Sensor Left: {valL}, Sensor Right: {valR}")

        # Read IMU sensor data
        magx, magy, magz = IMU.getMag()
        gyrx, gyry, gyrz = IMU.getGyro()
        print(f"MX = {magx:.2f} uT  MY = {magy:.2f} uT  MZ = {magz:.2f} uT")
        print(f"GX = {gyrx:.2f} dps GY = {gyry:.2f} dps GZ = {gyrz:.2f} dps")

        # Display encoder values for each motor
        print(f"Encoder A: {encoderA}, Encoder B: {encoderB}")

        # State machine logic
        if state == 'LEFT_TURN':
            leftTurn(valL, valR)

            # Hill detection: Ascending
            if gyry > 5:
                print("Hill detected: Ascending")
                state = 'STRAIGHT'
                # Reset encoder positions when starting to move straight
                initialPositionA = motorA.get_position()
                initialPositionB = motorB.get_position()

            # Magnet detection with debounce
            if magx > 2000 and magy > 2000 and magz > 2000:
                if not magnet_detected_last:
                    magnet_count += 1
                    print(f"Magnet detected. Count: {magnet_count} in Phase {phase}")

                    if phase == 1:
                        if magnet_count == 1:
                            print("Phase 1: Switching to RIGHT_TURN")
                            state = 'RIGHT_TURN'
                    elif phase == 2:
                        if magnet_count == 2:
                            print("Phase 2: Switching to RIGHT_TURN")
                            state = 'RIGHT_TURN'
                    elif phase == 3:
                        if magnet_count == 3:
                            print("Phase 3: Placing cargo")
                            state = 'PLACE_CARGO'

                    magnet_detected_last = True
            else:
                magnet_detected_last = False

        elif state == 'STRAIGHT':
            straight()

            # Hill handling: Descending
            if gyry < -5:
                print("Descending hill")
                state = 'DESCENT'
            elif abs(gyry) < 1:
                print("Hill ended: Back to normal")
                state = 'LEFT_TURN'

        elif state == 'DESCENT':
            straight()

            # Completed descent
            if abs(gyry) < 1:
                print("Finished hill descent")
                state = 'LEFT_TURN'

        elif state == 'RIGHT_TURN':
            rightTurn(valL, valR)
            print("Completed RIGHT_TURN, switching to LEFT_TURN")
            state = 'LEFT_TURN'

        elif state == 'PLACE_CARGO':
            place_cargo()
            if phase < 3:
                phase += 1
                print(f"Advancing to Phase {phase}")
            else:
                print("All phases complete.")
            magnet_count = 0
            state = 'LEFT_TURN'

        # Small delay to reduce CPU load
        sleep(0.05)

except KeyboardInterrupt:
    stop_motors()
    print("Program terminated and motors stopped.")




Here is the pseudocode for what the main function is supposed to do:
1. start off with leftTurn()
            2. detects a hill
            3. runs straight() after resetting initialPositionA and initialPositionB
            4. gets off hill (will give more details about to detect hill)
            5. continues running leftTurn()
            6. detects a first magnet (when MX, MY, and MZ are all > 2000 uT)
            7. starts running rightTurn() now instead
            8. detects a second magnet
            9. Places cargo (just put a placeholder here for now so I know its supposed to drop cargo)
            10. continue with leftTurn()
            Repeat steps 1-6, but this time, when detects the first magnet, keep running leftTurn()
            11. Detects a second magnet
            12. This time, run rightTurn()
            13. Detect a third magnet
            14. Places cargo (placeholder again)
            15. Run leftTurn()
            16. Repeat steps 1-6 again.
            17. This time, when it detects the first magnet, keep running leftTurn()
            18. detects the second magnet
            19. keep running leftTurn()
            20. Detects the third magnet
            21. Drop Cargo (Placeholder)
            22. Continue with leftTurn()



My question is for this section:
elif state == 'STRAIGHT':
            straight()

            # Hill handling: Descending
            if gyry < -5:
                print("Descending hill")
                state = 'DESCENT'
            elif abs(gyry) < 1:
                print("Hill ended: Back to normal")
                state = 'LEFT_TURN'


If I am understanding it correctly, if the rover is on the hill, it will execute this section. however, wouldn't just having elif abs(gyry) < 1 not only execute one it is down the hill, but also at the top since the hill is shaped like a parabola? wouldn't this cause an issue? or is this accounted for in the code?