if e is not None:
print (time.time() - t2, e.value)
buffer = np.roll(buffer, 1)
buffer[0] = e.value
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')
