hella added DASHES! wit PERIMETER!

run-solleroot.py

@@ -104,13 +104,16 @@ class RootDevice(gatt.Device):
             # save COLOR INFO to object for future use
             self.last_packet = new_data
             self.adjust_for_perimeter_if_needed(new_data)
+            return  # If you're busy adjusting for perimeter,
+                    # any senor data is used in that function and
+                    # then no longer valid
         if type == "Color Sensor" and self.edge_following_enabled:
             print("new data - calling edge following")
             self.follow_edge(new_data)
-        if type == "Color Sensor" and self.patterning_lines_enabled:
-            print("new data - calling patterning")
-            self.dash_count(self.dash_count)
-            self.pattern_dashes(new_data, self.dash_count)
+##        elif type == "Color Sensor" and self.patterning_lines_enabled:
+##            print("new data - calling patterning")
+##            self.dash_count(self.dash_count)
+##            self.pattern_dashes(new_data)
         
       
     def adjust_for_perimeter_if_needed(self, message):
@@ -123,9 +126,16 @@ class RootDevice(gatt.Device):
         for i in range(3,18):
             if message[i] in color_red:
                 n += 1
+        if n <= 3:
+            self.currently_adjusting_for_perimeter = False
+            self.drive_forward()
+            return
+        if not self.currently_adjusting_for_perimeter:
+            self.pen_up()
+            self.currently_adjusting_for_perimeter = True
+            
         if n > 13: #number of sensors read the color
             self.drive_backwards()
-            self.currently_adjusting_for_perimeter = True
             print("in all colors are red - driving backwards")
             return
         n = 0
@@ -134,7 +144,6 @@ class RootDevice(gatt.Device):
                 n += 1
         if n > 3:
             self.steer(90,10)
-            self.currently_adjusting_for_perimeter = True
             print("steering left")
             return    
         n = 0
@@ -143,45 +152,24 @@ class RootDevice(gatt.Device):
                 n += 1
         if n > 3:
             self.steer(10,90)
-            self.currently_adjusting_for_perimeter = True
             print("steering right")
             return
-        print("OUT OF LOOP")
-        if self.currently_adjusting_for_perimeter:
-            self.currently_adjusting_for_perimeter = False
-            self.drive_forward()
-            return
-    
-    # thread for counting time pen down/up
-    def dash_count(self, count):
-        print("IN DASH COUNT")
-        threading.Timer(2.0, pattern_dashes).start()
-        self.dash_count += self.dash_count
-        print("incremented dash_count")
-        
-    def pattern_dashes(self, message, count):
-        print("IN PATTERN DASHES")
-        # pen down, pen up, so many times
-        print("count:", count)
-        num_dashes_wanted = 4
-        
-        if count < num_dashes_wanted:
-            if (self.dash_count % 2 == 0):
-                print("pen-down, driving")
-                self.pen_down()
-                self.drive_forward()
-                return
-            else:
-                print("pen up, drive forward")
-                self.pen_up()
-                self.drive_forward()
-                return
             
-        if self.patterning_lines_enabled:
-            print("!!!!!!!!!!!!!!!!! turning patterning lines to FALSE")
-            self.patterning_lines_enabled = False
-            self.drive_forward()
+    def do_dash_movement(self):
+        print('doin it')
+        threading.Timer(1.0, self.do_dash_movement).start()
+       # if self.total_dash_count >= MAX_TOTAL_DASHES:
+           # return
+        if self.currently_adjusting_for_perimeter:
             return
+        if(self.dash_count % 2 == 0):
+            print("pen-down, driving")
+            self.pen_down()
+          #  self.total_dash_count += 1
+        else:
+            print("pen up, drive forward")
+            self.pen_up()
+        self.dash_count += 1
         
 
     def follow_edge(self, message):
@@ -268,7 +256,7 @@ class RootDevice(gatt.Device):
 
 def drive_root(command):
     angle = 0
-    last_packet = manager.robot.last_packet
+##    last_packet = manager.robot.last_packet
     
     if command == "f":
         print ("Drive forward")
@@ -308,20 +296,11 @@ def drive_root(command):
     if command == "edge":
         print ("edge")
         manager.robot.edge_following_enabled = True
-        manager.robot.follow_edge(last_packet)
+        manager.robot.follow_edge(manager.robot.last_packet)
     if command == "pattern lines":
         print ("pattern lines")
-        
-##        SOMETHING IS WRONG HERE CALLING THESE ATTRIBUTES
-        
-##        manager.robot.last_packet = 0
-##        dash_count = self.dash_count(self.dash_count)
-        last_packet = manager.robot.last_packet
-        dash_count = manager.robot.dash_count
-        
-        manager.robot.patterning_lines_enabled = True
-        manager.robot.pattern_dashes(last_packet, dash_count)
-
+        manager.robot.drive_forward()
+        manager.robot.do_dash_movement()
         
 # start here if run as program / not imported as module
 if __name__ == "__main__":