still stuck in perimeter

run-solleroot.py

@@ -86,18 +86,23 @@ class RootDevice(gatt.Device):
         if new_data[0] == DATA_TYPE_TOUCH: type = "Touch Sensor"
         if new_data[0] == DATA_TYPE_CLIFF: type = "Cliff Sensor"
         print("{}: {}".format(type, new_data))
-
-        # save COLOR INFO to object for future use
-        self.last_packet = new_data
-        print("{}: {}".format(type, self.last_packet))
-
+        
+##        #attempt to back out of cliff even
+##        if new_data[0] == DATA_TYPE_CLIFF:
+##            t_end = time.time() + 2
+##            while time.time() < t_end:
+##                self.drive_backwards()
+##            self.stop()
+##            print("end cliff event")
+            
         # Perimeter detect, then other color functions
         # check if you're at the perimeter every time there is new color data
         if new_data[0] == DATA_TYPE_COLOR_SENSOR:
-            print("new data - calling perimeter")
+            # save COLOR INFO to object for future use
+            self.last_packet = new_data
             did_adjust = self.adjust_for_perimeter_if_needed(new_data)
-            if did_adjust:
-                return
+##            if did_adjust:
+##                return
         if type == "Color Sensor" and self.edge_following_enabled:
             print("new data - calling edge following")
             self.follow_edge(new_data)
@@ -110,32 +115,35 @@ class RootDevice(gatt.Device):
         print("IN ADJUST PERIMETER")
         print("{}: {}".format(type, message))
         
-        n = 0
-        adjusted = False
-        
         # THERE ARE DRIVE LEFT AND DRIVE RIGHT COMMANDS!
-        if all(message) in color_black:
-            drive_backwards()
-            adjusted = True
-            return adjusted
-        for i in range(3,7):
-            if message[i] in color_black:
+        if all(message) in color_red:
+            print("in all colors are red")
+            t_end = time.time() + 3
+            while time.time() < t_end:
+                drive_backwards()
+            self.stop()
+            time.sleep(1)
+        n = 0
+        for i in range(3,8):
+            if message[i] in color_red:
                 n += 1
-            if n > 3:
-                self.turn_rate(-30)
-                self.drive_forward() 
-                adjusted = True
-                return adjusted
+                if n > 3:
+                    t_end = time.time() + 3
+                    while time.time() < t_end:
+                        self.steer(60,20)
+                    self.stop()
+                    time.sleep(1)
         n = 0
-        for i in range(14,18):
-            if message[i] in color_black:
+        for i in range(13,18):
+            if message[i] in color_red:
                 n += 1
-            if n > 3:
-                self.turn_rate(30)
-                self.drive_forward()
-                adjusted = True
-                return adjusted
-        return adjusted
+                if n > 3:
+                    t_end = time.time() + 3
+                    while time.time() < t_end:
+                        self.steer(20,60)
+                    self.stop()
+                    time.sleep(1)
+
         
     def pattern_dashes(self, message):
         # pen down, pen up, so many times