added color bank in global name space

run-solleroot.py

-#!/usr/bin/env python3
+# python3
 
 import gatt
 import threading
-import time
+import time #not working...
 
 
 # BLE UUID's
@@ -11,13 +11,18 @@ uart_service_uuid = '6e400001-b5a3-f393-e0a9-e50e24dcca9e'
 tx_characteristic_uuid = '6e400002-b5a3-f393-e0a9-e50e24dcca9e' # Write
 rx_characteristic_uuid = '6e400003-b5a3-f393-e0a9-e50e24dcca9e' # Notify
 
-
+# message types
 DATA_TYPE_COLOR_SENSOR = 4
 DATA_TYPE_BUMPER = 12
 DATA_TYPE_LIGHT = 13
 DATA_TYPE_TOUCH = 17
 DATA_TYPE_CLIFF = 20
 
+# color classifications
+color_black = [17, 68]
+color_red = [34]
+color_green = [51]
+
 class BluetoothDeviceManager(gatt.DeviceManager):
     robot = None # root robot device
 
@@ -30,9 +35,12 @@ class BluetoothDeviceManager(gatt.DeviceManager):
         self.robot.connect()
 
 class RootDevice(gatt.Device):
+    # states for our robot primatives
     edge_following_enabled = False
     patterning_lines_enabled = False
     
+    # "message" allows last sensor readings to be stored in the robot object for each robot
+    message = "no message yet"
     def print_message(self):
         print(self.message)
     
@@ -80,25 +88,43 @@ class RootDevice(gatt.Device):
         if new_data[0] == DATA_TYPE_CLIFF: type = "Cliff Sensor"
 #        print("{}: {}".format(type, new_data))
 
-        # Do the thing!
+        # Perimeter detect, then other color functions
         if new_data[0] == DATA_TYPE_COLOR_SENSOR:
+            print("new data - calling perimeter")
             did_adjust = self.adjust_for_perimeter_if_needed(new_data)
             if did_adjust:
                 return
         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)
             
-    def adjust_for_perimeter_if_needed(self, data):
+    def adjust_for_perimeter_if_needed(self, message):
+        # Check to see if you're at perimeter! If you are, turn and update your state
+        print("IN ADJUST PERIMETER")
+        n = 0
+        for i in range(3,5):
+            if message[i] in color_black:
+                n += 1
+            if n > 1:
+                self.turn_rate(-45)
+                adjusted = True
+            else:
+                adjusted = False
+        n = 0
+        for i in range(16,18):
+            if message[i] in color_black:
+                n += 1
+            if n > 1:
+                self.turn_rate(45)
+                adjusted = True
+            else:
                 adjusted = False   
-        
-        # TODO: Check to see if you're at perimeter! If you are, update your state and set
-        # adjusted = True
-        
         return adjusted
         
     def pattern_dashes(self, message):
+        print("IN PATTERN DASHES")
         #pen down, pen up, so many times...
         count = 0
         while count < 3: # number of lines robot will draw
@@ -126,6 +152,7 @@ class RootDevice(gatt.Device):
         
 
     def follow_edge(self, message):
+        print("IN FOLLOW EDGE")
         if message[3] != 0 or message[4] != 0:
             #drive_root("l")
             self.turn_rate(-45)
@@ -163,9 +190,7 @@ class RootDevice(gatt.Device):
             #drive_root("v")
             turn_state = 2
         else:
-             drive_root("f")
-             #manager.robot.drive_forward_slow()
-             #drive_root("a")
+             self.drive_forward()
 
     def drive_forward(self):
         self.tx_characteristic.write_value([0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD1])