Commented out prototype functions.

src/move.py

@@ -3,6 +3,7 @@
 import ev3dev.ev3 as ev3
 from wheel import Wheel
 from sensor import Sensor
+import time
 
 
 class Move:
@@ -25,9 +26,56 @@ class Move:
     '''
     Function to correct errors should the robot wander astray
     '''
+    # Probably redundant because aligning can be done while scanning other paths
+
     def _aligntoedge(self):
+        '''
+        isonedge = False
+        alternatingvalue = 2  # value used to switch turning directions using mod 2 hence theres only two possible values when you keep increasing the value
+        if(self._sensor.getbrightness() < 24):
+            while (not (self._sensor.getbrightness() == 24)):
+                self._wheel_l.speed_set(5)
+                self._wheel_r.speed_set(-5)
+        elif(self._sensor.getbrightness() > 24):
+            while (not isonedge):
+                if alternatingvalue % 2 == 0:
+                    isonedge = self._findedgeonrightside(alternatingvalue)
+                    self._wheel_l.stop()
+                    self._wheel_r.stop()
+                if alternatingvalue % 2 == 1:
+                    isonedge = self._findedgeonleftside(alternatingvalue)
+                    self._wheel_l.stop()
+                    self._wheel_r.stop()
+                alternatingvalue = alternatingvalue + 1
+        '''
         pass
 
+    '''
+    def _findedgeonleftside(self, alternatingvalue):
+        i = 0
+        while i < alternatingvalue:
+            self._wheel_r.speed_set(5)
+            self._wheel_l.speed_set(-5)
+            if (self._sensor.getbrightness() == 24):
+                return True
+            i = i + 1
+        return False
+
+    def _findedgeonrightside(self, alternatingvalue):
+        i = 0
+        while i < alternatingvalue:
+            self._wheel_l.speed_set(5)
+            self._wheel_r.speed_set(-5)
+            if (self._sensor.getbrightness() == 24):
+                time.sleep(0.05)
+                while(not (self._sensor.getbrightness() == 24)):
+                    self._wheel_l.speed_set(5)
+                    self._wheel_r.speed_set(-5)
+                return True
+            i = i + 1
+        return False
+    '''
+
     '''
     uses odometry and the planet object to map edges that are connected to
     current node.
@@ -44,12 +92,16 @@ class Move:
         self._wheel_r.speed_set(24)
         self._wheel_l.run()
         self._wheel_r.run()
-
+<<<<<<< HEAD
-        while(not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
+	while (not (self._bumper.value() or self._sensor.isRed() or self._sensor.isBlue())):
             self._wheel_l.speed_set(48 - self._sensor.getbrightness())
             self._wheel_r.speed_set(self._sensor.getbrightness())
             if(isknownstation == False):
                 pass #run odometry stuff here
 
+        if (not self._bumper.value()):
+            time.sleep(1)
+            # self._aligntoedge()
+
         self._wheel_l.stop()
         self._wheel_r.stop()