prediction_count += 1 if prediction_count >= buffer_size: prediction = mode(buffer)[0] prediction_count = 0 else: prediction = 3 else: prediction = 3 if prediction == 0: print("robot turning left") robot.turn_left() elif prediction == 1: print("robot moving forward") robot.move_forward() elif prediction == 2: print("robot turning right") robot.turn_right() elif prediction == 3: print("robot stopping") robot.beep() robot.stop() if robot.read_sensor(0): break bufhelp.sendevent('stimulus.feedback', 'end') leds.blink = False print("feedback END") bufhelp.sendevent('startPhase.cmd', 'exit')