Updated class Search with finding line in forward mode, included stop when edge found

Color_Sorting/Program/Python_Obstical_sorter.py

@@ -54,12 +54,14 @@ def search ():
     nr_orange, o_block = pixy2.get_blocks(orange, 2)
     nr_green, g_block = pixy2.get_blocks(green, 2)
     if cs.reflected_light_intensity < 15: # if outline is reached change state to edge
+        tank.stop()
         last_state = state
         state = 5
     elif us.distance_centimeters < 10: # if a block is currently in the arms change to sort
         last_state = state 
         state = 3
     elif nr_orange > 0: # when orange block is found then change to get 
+        tank.stop()
         last_state = state
         state = 2
     elif nr_green > 0: # when green block is found then change to avoid 
@@ -70,6 +72,10 @@ def search ():
             tank.on(fast,fast)
             sleep(0.2)
             j+=1 
+        if cs.reflected_light_intensity <= 8 : 
+            tank.stop()
+            last_state = state
+            state = 5
         gyro.reset()
         j=0 # Reset control variable
 
@@ -116,6 +122,7 @@ def get ():
             m_right.on(SpeedPercent(-slow))
             m_left.on(SpeedPercent(slow))   
     if cs.reflected_light_intensity < 15: # robot detected line change to edge
+        tank.stop()
         last_state = state
         state = 5 # When colorsensor detects line then switch state 
 
@@ -132,6 +139,7 @@ def sort ():
     # search for green blocks
     nr_green, g_block = pixy2.get_blocks(green, 2)
     if cs.reflected_light_intensity < 15: # when reached line change to edge
+        tank.stop()
         last_state = state
         state = 5 
     elif nr_green > 0: