patterning lines, something is still wrong calling method from drive_root

run-solleroot.py

@@ -104,12 +104,13 @@ 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)
-
-##        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:
-##            self.pattern_dashes(new_data, self.dash_count)
+        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)
         
       
     def adjust_for_perimeter_if_needed(self, message):
@@ -122,17 +123,15 @@ class RootDevice(gatt.Device):
         for i in range(3,18):
             if message[i] in color_red:
                 n += 1
-                print("all - red", n)
         if n > 13: #number of sensors read the color
-            print("in all colors are red")
             self.drive_backwards()
             self.currently_adjusting_for_perimeter = True
+            print("in all colors are red - driving backwards")
             return
         n = 0
         for i in range(3,8):
             if message[i] in color_red:
                 n += 1
-                print("all - left", n)
         if n > 3:
             self.steer(90,10)
             self.currently_adjusting_for_perimeter = True
@@ -142,9 +141,7 @@ class RootDevice(gatt.Device):
         for i in range(13,18):
             if message[i] in color_red:
                 n += 1
-                print("all - right", n)
         if n > 3:
-            print("in n > 3")
             self.steer(10,90)
             self.currently_adjusting_for_perimeter = True
             print("steering right")
@@ -152,33 +149,39 @@ class RootDevice(gatt.Device):
         print("OUT OF LOOP")
         if self.currently_adjusting_for_perimeter:
             self.currently_adjusting_for_perimeter = False
-##            self.stop()
             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:
-            self.pen_down()
-            t_end = time.time() + 2
-            while time.time() < t_end:
+            if (self.dash_count % 2 == 0):
+                print("pen-down, driving")
+                self.pen_down()
                 self.drive_forward()
-            self.stop()
-            print("pen-down, driving")
-            self.pen_up()
-            t_end = time.time() + 2
-            while time.time() < t_end:
+                return
+            else:
+                print("pen up, drive forward")
+                self.pen_up()
                 self.drive_forward()
-            self.stop()
-            print("pen up, drive forward")
-            self.stop()
-        else:
+                return
+            
+        if self.patterning_lines_enabled:
+            print("!!!!!!!!!!!!!!!!! turning patterning lines to FALSE")
             self.patterning_lines_enabled = False
-        
-        self.dash_count += self.dash_count
+            self.drive_forward()
+            return
         
 
     def follow_edge(self, message):
@@ -308,8 +311,14 @@ def drive_root(command):
         manager.robot.follow_edge(last_packet)
     if command == "pattern lines":
         print ("pattern lines")
-        manager.robot.last_packet = 0
-        dash_count = manager.robot.last_packet
+        
+##        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)