2026-07-02 09:43:16,828 - root - [logging_config.py:61] - INFO - Logging initialized. Log file: /home/tuton/Kanto2026RPi/src/config/../logs/robot_20260702_094301.log
2026-07-02 09:43:18,774 - mazeUtils.device.LiDAR - [LiDAR.py:80] - INFO - Available ports: <ydlidar.Str2strMap; proxy of <Swig Object of type 'std::map< std::string,std::string > *' at 0x7f8fbd6310> >
2026-07-02 09:43:25,573 - mazeUtils.moveTile - [moveTile.py:556] - DEBUG - overwrite the wall data
2026-07-02 09:43:25,606 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 103.08690444496831 cm
2026-07-02 09:43:25,609 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:25,610 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 107.26295228153914 cm
2026-07-02 09:43:25,612 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 140.16459098136366 cm
2026-07-02 09:43:25,614 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 15.461482473640354 cm
2026-07-02 09:43:25,615 - __main__ - [main.py:69] - INFO - Initial Map:
2026-07-02 09:43:25,637 - __main__ - [main.py:70] - INFO - Current position: (20, 20, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=20..20
+   +
| @  
+   +
2026-07-02 09:43:26,596 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 19, 0)
2026-07-02 09:43:26,597 - __main__ - [main.py:76] - INFO - Next Direction: [<absDirection.NORTH: 0>]
2026-07-02 09:43:26,598 - __main__ - [main.py:77] - INFO - Exploration started.
2026-07-02 09:43:26,599 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:26,599 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [40.267322] moveTile start direction=absDirection.NORTH position=(20, 20, 0) front=absDirection.NORTH
2026-07-02 09:43:26,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.275298] moveTile after initial toggle check (+8.0 ms)
2026-07-02 09:43:26,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.278444] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+3.1 ms)
2026-07-02 09:43:26,611 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 20, 0) facing absDirection.NORTH
2026-07-02 09:43:26,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.279478] moveTile start heading change target=0 (+1.0 ms)
2026-07-02 09:43:26,635 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 359.78000000000003 target: 0
2026-07-02 09:43:26,655 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 359.78000000000003, diff: 0.21999999999997044
2026-07-02 09:43:26,699 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 359.78000000000003 deg
2026-07-02 09:43:26,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.367984] moveTile finished heading change (+88.5 ms)
2026-07-02 09:43:26,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.368751] Adjustment after ramp completed (+0.8 ms)
2026-07-02 09:43:26,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.369282] moveTile updated front direction (+0.5 ms)
2026-07-02 09:43:26,721 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.388730] moveTile stopped motors before alignment (+19.4 ms)
2026-07-02 09:43:26,881 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 102.33150671971507 cm
2026-07-02 09:43:26,883 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 107.34404507833068 cm
2026-07-02 09:43:26,885 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 140.16459098136366 cm
2026-07-02 09:43:26,886 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 15.399999618530273 cm
2026-07-02 09:43:26,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.554304] moveTile ready for forward move (+165.6 ms)
2026-07-02 09:43:26,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.584268] moveTile initialized movement targetSteps=1 (+30.0 ms)
2026-07-02 09:43:26,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.586097] moveTile loop start (+1.8 ms)
2026-07-02 09:43:26,924 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e66c2d0>
2026-07-02 09:43:26,981 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:43:26,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.655691] moveTile calculated motor speeds left=100 right=90 gyroSteer=4.240000000000009 wallSteer=4.800000000000001 (+69.6 ms)
2026-07-02 09:43:27,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.675674] moveTile applied motor speed left=100 right=90 (+20.0 ms)
2026-07-02 09:43:27,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.679895] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:43:27,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.680790] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:27,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.685970] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:43:27,019 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.08000000000004 deg, practicalMoveTime: 0.10245742843764155 sec
2026-07-02 09:43:27,020 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 101.3 ms
2026-07-02 09:43:27,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.688157] moveTile loop end practicalMoveTime=0.102 (+2.2 ms)
2026-07-02 09:43:27,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.688656] moveTile loop start (+0.5 ms)
2026-07-02 09:43:27,032 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e66c2d0>
2026-07-02 09:43:27,043 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:43:27,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.715386] moveTile calculated motor speeds left=100 right=87 gyroSteer=8.079999999999927 wallSteer=4.800000000000001 (+26.7 ms)
2026-07-02 09:43:27,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.737399] moveTile applied motor speed left=100 right=87 (+22.0 ms)
2026-07-02 09:43:27,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.741127] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:27,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.741801] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:27,079 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.746915] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:27,080 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.23 deg, practicalMoveTime: 0.16279357604551797 sec
2026-07-02 09:43:27,081 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:43:27,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.749039] moveTile loop end practicalMoveTime=0.163 (+2.1 ms)
2026-07-02 09:43:27,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.749410] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,093 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fbd1910>
2026-07-02 09:43:27,101 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.3, S=255.0, V=254.8
2026-07-02 09:43:27,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.779798] moveTile calculated motor speeds left=100 right=85 gyroSteer=8.920000000000073 wallSteer=5.199999999999999 (+30.4 ms)
2026-07-02 09:43:27,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.800196] moveTile applied motor speed left=100 right=85 (+20.4 ms)
2026-07-02 09:43:27,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.803862] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:27,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.804570] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:27,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.810130] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:27,143 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 357.90000000000003 deg, practicalMoveTime: 0.22528281251438076 sec
2026-07-02 09:43:27,144 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.3 ms
2026-07-02 09:43:27,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.812313] moveTile loop end practicalMoveTime=0.225 (+2.2 ms)
2026-07-02 09:43:27,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.812710] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,152 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f84229510>
2026-07-02 09:43:27,158 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:43:27,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.838234] moveTile calculated motor speeds left=100 right=91 gyroSteer=3.160000000000082 wallSteer=5.199999999999999 (+25.5 ms)
2026-07-02 09:43:27,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.859432] moveTile applied motor speed left=100 right=91 (+21.2 ms)
2026-07-02 09:43:27,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.863626] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:43:27,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.864440] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:27,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.869194] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:27,202 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.39000000000004 deg, practicalMoveTime: 0.28363126065631866 sec
2026-07-02 09:43:27,203 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:43:27,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.871185] moveTile loop end practicalMoveTime=0.284 (+2.0 ms)
2026-07-02 09:43:27,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.871556] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,208 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e66c2d0>
2026-07-02 09:43:27,215 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:43:27,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.889706] moveTile calculated motor speeds left=100 right=90 gyroSteer=4.240000000000009 wallSteer=4.800000000000001 (+18.1 ms)
2026-07-02 09:43:27,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.910271] moveTile applied motor speed left=100 right=90 (+20.6 ms)
2026-07-02 09:43:27,248 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.915495] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:43:27,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.916621] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:27,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.926220] moveTile ramp check isBigRamp=False (+9.6 ms)
2026-07-02 09:43:27,259 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.58000000000004 deg, practicalMoveTime: 0.3400233688732147 sec
2026-07-02 09:43:27,260 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.2 ms
2026-07-02 09:43:27,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.928341] moveTile loop end practicalMoveTime=0.340 (+2.1 ms)
2026-07-02 09:43:27,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.928932] moveTile loop start (+0.6 ms)
2026-07-02 09:43:27,271 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f24e8d0>
2026-07-02 09:43:27,277 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:43:27,282 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.950242] moveTile calculated motor speeds left=100 right=93 gyroSteer=-1.3599999999999 wallSteer=7.600000000000001 (+21.3 ms)
2026-07-02 09:43:27,303 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.970737] moveTile applied motor speed left=100 right=93 (+20.5 ms)
2026-07-02 09:43:27,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.975263] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:27,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.975993] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:27,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.988235] moveTile ramp check isBigRamp=False (+12.2 ms)
2026-07-02 09:43:27,321 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6100000000000136 deg, practicalMoveTime: 0.4013900251643566 sec
2026-07-02 09:43:27,322 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.8 ms
2026-07-02 09:43:27,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.990295] moveTile loop end practicalMoveTime=0.401 (+2.1 ms)
2026-07-02 09:43:27,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [40.990704] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,329 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842efd50>
2026-07-02 09:43:27,338 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:43:27,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.011907] moveTile calculated motor speeds left=100 right=94 gyroSteer=5.519999999999982 wallSteer=-0.3999999999999986 (+21.2 ms)
2026-07-02 09:43:27,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.031605] moveTile applied motor speed left=100 right=94 (+19.7 ms)
2026-07-02 09:43:27,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.035748] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:27,369 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.036648] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:27,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.042970] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:43:27,376 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.85 deg, practicalMoveTime: 0.4554576899897763 sec
2026-07-02 09:43:27,377 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:43:27,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.045010] moveTile loop end practicalMoveTime=0.455 (+2.0 ms)
2026-07-02 09:43:27,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.045376] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,386 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f24e8d0>
2026-07-02 09:43:27,393 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.9, S=255.0, V=254.8
2026-07-02 09:43:27,400 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.068384] moveTile calculated motor speeds left=100 right=98 gyroSteer=0.6400000000001 wallSteer=1.1999999999999993 (+23.0 ms)
2026-07-02 09:43:27,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.089030] moveTile applied motor speed left=100 right=98 (+20.6 ms)
2026-07-02 09:43:27,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.092691] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:27,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.093211] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:27,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.098940] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:27,432 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.5107709064142196 sec
2026-07-02 09:43:27,433 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:43:27,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.101010] moveTile loop end practicalMoveTime=0.511 (+2.1 ms)
2026-07-02 09:43:27,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.101458] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,441 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fbd1910>
2026-07-02 09:43:27,448 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.7, S=255.0, V=254.8
2026-07-02 09:43:27,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.121515] moveTile calculated motor speeds left=100 right=92 gyroSteer=2.4400000000000546 wallSteer=5.199999999999999 (+20.1 ms)
2026-07-02 09:43:27,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.140677] moveTile applied motor speed left=100 right=92 (+19.2 ms)
2026-07-02 09:43:27,476 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.144287] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:27,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.144788] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:27,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.149255] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:27,482 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.91 deg, practicalMoveTime: 0.5602984904230331 sec
2026-07-02 09:43:27,483 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.2 ms
2026-07-02 09:43:27,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.151774] moveTile loop end practicalMoveTime=0.560 (+2.5 ms)
2026-07-02 09:43:27,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.152306] moveTile loop start (+0.5 ms)
2026-07-02 09:43:27,490 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f37fcd0>
2026-07-02 09:43:27,498 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:43:27,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.171681] moveTile calculated motor speeds left=100 right=95 gyroSteer=-0.11999999999989086 wallSteer=4.800000000000001 (+19.4 ms)
2026-07-02 09:43:27,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.197810] moveTile applied motor speed left=100 right=95 (+26.1 ms)
2026-07-02 09:43:27,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.202446] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:27,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.203292] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:27,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.209176] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:27,543 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.020000000000038654 deg, practicalMoveTime: 0.6201813660319617 sec
2026-07-02 09:43:27,544 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.1 ms
2026-07-02 09:43:27,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.212298] moveTile loop end practicalMoveTime=0.620 (+3.1 ms)
2026-07-02 09:43:27,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.212831] moveTile loop start (+0.5 ms)
2026-07-02 09:43:27,558 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8429dcd0>
2026-07-02 09:43:27,565 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.5, S=255.0, V=254.9
2026-07-02 09:43:27,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.245563] moveTile calculated motor speeds left=96 right=100 gyroSteer=-7.920000000000073 wallSteer=4.0 (+32.7 ms)
2026-07-02 09:43:27,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.268202] moveTile applied motor speed left=96 right=100 (+22.6 ms)
2026-07-02 09:43:27,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.272261] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:27,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.272825] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:27,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.277285] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:27,611 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.6872477143376181 sec
2026-07-02 09:43:27,611 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 66.4 ms
2026-07-02 09:43:27,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.279726] moveTile loop end practicalMoveTime=0.687 (+2.4 ms)
2026-07-02 09:43:27,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.280181] moveTile loop start (+0.5 ms)
2026-07-02 09:43:27,618 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8420e450>
2026-07-02 09:43:27,625 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:43:27,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.297344] moveTile calculated motor speeds left=94 right=100 gyroSteer=-8.920000000000073 wallSteer=3.1999999999999993 (+17.2 ms)
2026-07-02 09:43:27,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.317292] moveTile applied motor speed left=94 right=100 (+19.9 ms)
2026-07-02 09:43:27,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.321558] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:43:27,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.322368] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:27,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.329188] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:43:27,662 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.48 deg, practicalMoveTime: 0.7381124617078668 sec
2026-07-02 09:43:27,663 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:43:27,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.333326] moveTile loop end practicalMoveTime=0.738 (+4.1 ms)
2026-07-02 09:43:27,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.334136] moveTile loop start (+0.8 ms)
2026-07-02 09:43:27,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842efd50>
2026-07-02 09:43:27,680 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:43:27,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.354421] moveTile calculated motor speeds left=86 right=100 gyroSteer=-11.720000000000027 wallSteer=-1.6000000000000014 (+20.3 ms)
2026-07-02 09:43:27,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.373611] moveTile applied motor speed left=86 right=100 (+19.2 ms)
2026-07-02 09:43:27,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.377929] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:43:27,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.379012] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:27,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.387287] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:43:27,720 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.58000000000004 deg, practicalMoveTime: 0.7949895002856153 sec
2026-07-02 09:43:27,721 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:43:27,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.389533] moveTile loop end practicalMoveTime=0.795 (+2.2 ms)
2026-07-02 09:43:27,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.390490] moveTile loop start (+1.0 ms)
2026-07-02 09:43:27,730 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8421e4d0>
2026-07-02 09:43:27,736 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:43:27,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.409001] moveTile calculated motor speeds left=85 right=100 gyroSteer=-11.799999999999955 wallSteer=-2.8000000000000007 (+18.5 ms)
2026-07-02 09:43:27,767 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.434408] moveTile applied motor speed left=85 right=100 (+25.4 ms)
2026-07-02 09:43:27,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.440319] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:43:27,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.440942] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:27,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.449052] moveTile ramp check isBigRamp=False (+8.1 ms)
2026-07-02 09:43:27,782 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.63 deg, practicalMoveTime: 0.8559311755696654 sec
2026-07-02 09:43:27,783 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:43:27,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.450975] moveTile loop end practicalMoveTime=0.856 (+1.9 ms)
2026-07-02 09:43:27,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.451356] moveTile loop start (+0.4 ms)
2026-07-02 09:43:27,789 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8421e4d0>
2026-07-02 09:43:27,795 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=255.0, V=253.5
2026-07-02 09:43:27,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.467814] moveTile calculated motor speeds left=79 right=100 gyroSteer=-16.720000000000027 wallSteer=-3.6000000000000014 (+16.5 ms)
2026-07-02 09:43:27,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.487050] moveTile applied motor speed left=79 right=100 (+19.2 ms)
2026-07-02 09:43:27,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.490683] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:27,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.491265] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:27,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.496138] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:43:27,829 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.3316993214867643 CM
2026-07-02 09:43:27,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.519387] moveTile finished by time control (+23.2 ms)
2026-07-02 09:43:27,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.520121] moveTile start final forward adjustment (+24.0 ms)
2026-07-02 09:43:27,883 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.551145] moveTile finished final forward adjustment (+31.0 ms)
2026-07-02 09:43:27,884 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.3316993214867643 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:43:27,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.552918] moveTile updated moved vertical distance -0.332 (+1.8 ms)
2026-07-02 09:43:28,032 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 74.05754002112329 cm
2026-07-02 09:43:28,036 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:28,038 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.476313671299172 cm
2026-07-02 09:43:28,039 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 171.77383707916104 cm
2026-07-02 09:43:28,041 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.88970459538537 cm
2026-07-02 09:43:28,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.709598] moveTile updated map and detected walls (+156.7 ms)
2026-07-02 09:43:28,045 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:28,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.714717] moveTile finished (+161.8 ms)
2026-07-02 09:43:28,089 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:43:28,118 - __main__ - [main.py:110] - INFO - Current position: (20, 19, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=19..20
+   +
| @ |
+   +
| S  
+   +
2026-07-02 09:43:28,126 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 18, 0)
2026-07-02 09:43:28,128 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:28,129 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [41.796500] moveTile start direction=absDirection.NORTH position=(20, 19, 0) front=absDirection.NORTH
2026-07-02 09:43:28,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.800868] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:43:28,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.802867] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.0 ms)
2026-07-02 09:43:28,135 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 19, 0) facing absDirection.NORTH
2026-07-02 09:43:28,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.803798] moveTile start heading change target=0 (+0.9 ms)
2026-07-02 09:43:28,162 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 356.40000000000003 target: 0
2026-07-02 09:43:28,183 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 356.40000000000003, diff: 3.599999999999966
2026-07-02 09:43:28,279 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 358.03000000000003 deg
2026-07-02 09:43:28,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.947539] moveTile finished heading change (+143.7 ms)
2026-07-02 09:43:28,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.947991] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:28,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.948535] moveTile updated front direction (+0.5 ms)
2026-07-02 09:43:28,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [41.969223] moveTile stopped motors before alignment (+20.7 ms)
2026-07-02 09:43:28,480 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 72.77418298712993 cm
2026-07-02 09:43:28,484 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.151100696231447 cm
2026-07-02 09:43:28,486 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 171.46468806978484 cm
2026-07-02 09:43:28,487 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.689825667506863 cm
2026-07-02 09:43:28,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.156294] moveTile ready for forward move (+187.1 ms)
2026-07-02 09:43:28,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.188099] moveTile initialized movement targetSteps=1 (+31.8 ms)
2026-07-02 09:43:28,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.189701] moveTile loop start (+1.6 ms)
2026-07-02 09:43:28,531 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8e9daed0>
2026-07-02 09:43:28,537 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.8, S=254.3, V=81.1
2026-07-02 09:43:28,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.209975] moveTile calculated motor speeds left=92 right=100 gyroSteer=-5.960000000000036 wallSteer=-1.1999999999999993 (+20.3 ms)
2026-07-02 09:43:28,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.229458] moveTile applied motor speed left=92 right=100 (+19.5 ms)
2026-07-02 09:43:28,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.233544] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:28,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.234138] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:28,573 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.241075] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:43:28,575 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.66 deg, practicalMoveTime: 0.054104329207053534 sec
2026-07-02 09:43:28,576 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:43:28,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.244787] moveTile loop end practicalMoveTime=0.054 (+3.7 ms)
2026-07-02 09:43:28,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.245233] moveTile loop start (+0.4 ms)
2026-07-02 09:43:28,582 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f9704a610>
2026-07-02 09:43:28,589 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.7, S=254.6, V=81.6
2026-07-02 09:43:28,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.262684] moveTile calculated motor speeds left=90 right=100 gyroSteer=-3.7999999999999545 wallSteer=-5.600000000000001 (+17.5 ms)
2026-07-02 09:43:28,614 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.282076] moveTile applied motor speed left=90 right=100 (+19.4 ms)
2026-07-02 09:43:28,618 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.285790] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:28,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.286714] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:28,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.291819] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:28,625 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18000000000000682 deg, practicalMoveTime: 0.10285520442908808 sec
2026-07-02 09:43:28,625 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.0 ms
2026-07-02 09:43:28,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.293824] moveTile loop end practicalMoveTime=0.103 (+2.0 ms)
2026-07-02 09:43:28,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.294194] moveTile loop start (+0.4 ms)
2026-07-02 09:43:28,634 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f24e8d0>
2026-07-02 09:43:28,640 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.7, S=254.7, V=82.0
2026-07-02 09:43:28,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.313640] moveTile calculated motor speeds left=93 right=100 gyroSteer=-1.0799999999999272 wallSteer=-5.600000000000001 (+19.4 ms)
2026-07-02 09:43:28,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.336085] moveTile applied motor speed left=93 right=100 (+22.4 ms)
2026-07-02 09:43:28,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.342039] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:43:28,675 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.342901] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:28,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.350315] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:43:28,683 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.84000000000003 deg, practicalMoveTime: 0.16074352874065326 sec
2026-07-02 09:43:28,685 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:43:28,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.353041] moveTile loop end practicalMoveTime=0.161 (+2.7 ms)
2026-07-02 09:43:28,686 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.353461] moveTile loop start (+0.4 ms)
2026-07-02 09:43:28,691 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8e9daed0>
2026-07-02 09:43:28,696 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=114.0, S=254.7, V=80.5
2026-07-02 09:43:28,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.369181] moveTile calculated motor speeds left=100 right=98 gyroSteer=2.240000000000009 wallSteer=-1.1999999999999993 (+15.7 ms)
2026-07-02 09:43:28,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.391939] moveTile applied motor speed left=100 right=98 (+22.8 ms)
2026-07-02 09:43:28,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.397670] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:43:28,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.398369] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:28,736 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.404154] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:28,738 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.21402067658001153 sec
2026-07-02 09:43:28,739 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:43:28,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.407440] moveTile loop end practicalMoveTime=0.214 (+3.3 ms)
2026-07-02 09:43:28,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.407856] moveTile loop start (+0.4 ms)
2026-07-02 09:43:28,746 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4b36d0>
2026-07-02 09:43:28,752 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.6, S=254.8, V=80.8
2026-07-02 09:43:28,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.426083] moveTile calculated motor speeds left=100 right=97 gyroSteer=3.0799999999999272 wallSteer=-0.8000000000000007 (+18.2 ms)
2026-07-02 09:43:28,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.446238] moveTile applied motor speed left=100 right=97 (+20.2 ms)
2026-07-02 09:43:28,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.450653] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:43:28,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.451437] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:28,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.456247] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:28,789 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12999999999999545 deg, practicalMoveTime: 0.26422816224348444 sec
2026-07-02 09:43:28,790 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.8 ms
2026-07-02 09:43:28,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.458158] moveTile loop end practicalMoveTime=0.264 (+1.9 ms)
2026-07-02 09:43:28,791 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.458527] moveTile loop start (+0.4 ms)
2026-07-02 09:43:28,797 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f59b790>
2026-07-02 09:43:28,802 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.5, S=254.8, V=82.3
2026-07-02 09:43:28,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.475234] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.880000000000109 wallSteer=-5.199999999999999 (+16.7 ms)
2026-07-02 09:43:28,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.495279] moveTile applied motor speed left=97 right=100 (+20.0 ms)
2026-07-02 09:43:28,850 - mazeUtils.moveTile - [moveTile.py:241] - INFO - Black tile detected! Stopping movement. Starting escape maneuver.
2026-07-02 09:43:29,317 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Escape maneuver complete.
2026-07-02 09:43:29,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [42.986118] moveTile escaped from black tile (+490.8 ms)
2026-07-02 09:43:29,319 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:43:29,346 - __main__ - [main.py:110] - INFO - Current position: (20, 19, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=18..20
+   +
  B  
+   +
| @ |
+   +
| S  
+   +
2026-07-02 09:43:29,353 - __main__ - [main.py:119] - WARNING - Position did not change after movement. Possible error in movement or wall detection.
2026-07-02 09:43:29,355 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 21, 0)
2026-07-02 09:43:29,356 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:29,357 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [43.025341] moveTile start direction=absDirection.SOUTH position=(20, 19, 0) front=absDirection.NORTH
2026-07-02 09:43:29,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [43.032077] moveTile after initial toggle check (+6.7 ms)
2026-07-02 09:43:29,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [43.034234] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:43:29,367 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (20, 19, 0) facing absDirection.NORTH
2026-07-02 09:43:29,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [43.035336] moveTile start heading change target=180 (+1.1 ms)
2026-07-02 09:43:29,393 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 4.910000000000025 target: 180
2026-07-02 09:43:30,985 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 174.99, diff: 5.009999999999991
2026-07-02 09:43:31,041 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 179.12 deg
2026-07-02 09:43:31,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.709412] moveTile finished heading change (+1674.1 ms)
2026-07-02 09:43:31,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.709852] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:43:31,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.710263] moveTile updated front direction (+0.4 ms)
2026-07-02 09:43:31,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.733324] moveTile stopped motors before alignment (+23.1 ms)
2026-07-02 09:43:31,215 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 81.80025212130559 cm
2026-07-02 09:43:31,216 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 15.764691446696194 cm
2026-07-02 09:43:31,217 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 161.17544540791727 cm
2026-07-02 09:43:31,219 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.4598068292871 cm
2026-07-02 09:43:31,220 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.887907] moveTile ready for forward move (+154.6 ms)
2026-07-02 09:43:31,245 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:43:31,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.913832] moveTile initialized movement targetSteps=1 (+25.9 ms)
2026-07-02 09:43:31,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.915181] moveTile loop start (+1.3 ms)
2026-07-02 09:43:31,255 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4b36d0>
2026-07-02 09:43:31,262 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=254.9
2026-07-02 09:43:31,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.935744] moveTile calculated motor speeds left=100 right=87 gyroSteer=10.440000000000055 wallSteer=1.5999999999999979 (+20.6 ms)
2026-07-02 09:43:31,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.958843] moveTile applied motor speed left=100 right=87 (+23.1 ms)
2026-07-02 09:43:31,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.964560] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:43:31,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.965298] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:31,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.972980] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:43:31,306 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.060870190025276986 sec
2026-07-02 09:43:31,307 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:43:31,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.975066] moveTile loop end practicalMoveTime=0.061 (+2.1 ms)
2026-07-02 09:43:31,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.975527] moveTile loop start (+0.5 ms)
2026-07-02 09:43:31,318 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4b36d0>
2026-07-02 09:43:31,324 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=254.9
2026-07-02 09:43:31,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [44.999691] moveTile calculated motor speeds left=100 right=86 gyroSteer=12.200000000000045 wallSteer=1.5999999999999979 (+24.2 ms)
2026-07-02 09:43:31,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.018770] moveTile applied motor speed left=100 right=86 (+19.1 ms)
2026-07-02 09:43:31,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.022397] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:31,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.022910] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:31,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.029433] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:43:31,363 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.0 deg, practicalMoveTime: 0.1171448425063561 sec
2026-07-02 09:43:31,364 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.8 ms
2026-07-02 09:43:31,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.031904] moveTile loop end practicalMoveTime=0.117 (+2.5 ms)
2026-07-02 09:43:31,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.032344] moveTile loop start (+0.4 ms)
2026-07-02 09:43:31,371 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:31,377 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:43:31,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.056522] moveTile calculated motor speeds left=100 right=83 gyroSteer=15.0 wallSteer=2.0 (+24.2 ms)
2026-07-02 09:43:31,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.083592] moveTile applied motor speed left=100 right=83 (+27.1 ms)
2026-07-02 09:43:31,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.087385] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:31,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.087965] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:31,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.092464] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:31,426 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.670000000000016 deg, practicalMoveTime: 0.17920696034469186 sec
2026-07-02 09:43:31,427 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.9 ms
2026-07-02 09:43:31,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.094879] moveTile loop end practicalMoveTime=0.179 (+2.4 ms)
2026-07-02 09:43:31,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.095292] moveTile loop start (+0.4 ms)
2026-07-02 09:43:31,437 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:31,443 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:43:31,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.116768] moveTile calculated motor speeds left=100 right=91 gyroSteer=5.840000000000032 wallSteer=2.400000000000002 (+21.5 ms)
2026-07-02 09:43:31,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.136819] moveTile applied motor speed left=100 right=91 (+20.1 ms)
2026-07-02 09:43:31,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.141393] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:31,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.142198] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:31,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.150603] moveTile ramp check isBigRamp=False (+8.4 ms)
2026-07-02 09:43:31,484 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4300000000000068 deg, practicalMoveTime: 0.23630183373119948 sec
2026-07-02 09:43:31,484 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:43:31,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.152807] moveTile loop end practicalMoveTime=0.236 (+2.2 ms)
2026-07-02 09:43:31,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.153265] moveTile loop start (+0.5 ms)
2026-07-02 09:43:31,496 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cffd0>
2026-07-02 09:43:31,504 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=254.9
2026-07-02 09:43:31,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.176384] moveTile calculated motor speeds left=100 right=91 gyroSteer=6.080000000000041 wallSteer=2.8000000000000007 (+23.1 ms)
2026-07-02 09:43:31,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.202794] moveTile applied motor speed left=100 right=91 (+26.4 ms)
2026-07-02 09:43:31,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.206463] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:31,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.207043] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:31,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.212576] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:31,546 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5600000000000023 deg, practicalMoveTime: 0.29828413381617236 sec
2026-07-02 09:43:31,547 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.7 ms
2026-07-02 09:43:31,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.215621] moveTile loop end practicalMoveTime=0.298 (+3.0 ms)
2026-07-02 09:43:31,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.216515] moveTile loop start (+0.9 ms)
2026-07-02 09:43:31,553 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb92910>
2026-07-02 09:43:31,560 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.9
2026-07-02 09:43:31,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.234292] moveTile calculated motor speeds left=100 right=93 gyroSteer=3.6800000000000637 wallSteer=2.400000000000002 (+17.8 ms)
2026-07-02 09:43:31,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.258821] moveTile applied motor speed left=100 right=93 (+24.5 ms)
2026-07-02 09:43:31,596 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.263968] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:43:31,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.265042] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:31,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.270324] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:43:31,603 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.3544163414869692 sec
2026-07-02 09:43:31,604 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:43:31,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.272618] moveTile loop end practicalMoveTime=0.354 (+2.3 ms)
2026-07-02 09:43:31,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.273112] moveTile loop start (+0.5 ms)
2026-07-02 09:43:31,612 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f841f0750>
2026-07-02 09:43:31,619 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.2, S=255.0, V=254.9
2026-07-02 09:43:31,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.291909] moveTile calculated motor speeds left=100 right=93 gyroSteer=3.7200000000000273 wallSteer=2.400000000000002 (+18.8 ms)
2026-07-02 09:43:31,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.312652] moveTile applied motor speed left=100 right=93 (+20.7 ms)
2026-07-02 09:43:31,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.316337] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:31,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.317158] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:31,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.321624] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:31,655 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6299999999999955 deg, practicalMoveTime: 0.40494753500742864 sec
2026-07-02 09:43:31,655 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.9 ms
2026-07-02 09:43:31,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.323579] moveTile loop end practicalMoveTime=0.405 (+2.0 ms)
2026-07-02 09:43:31,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.323941] moveTile loop start (+0.4 ms)
2026-07-02 09:43:31,665 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb90650>
2026-07-02 09:43:31,671 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=254.9
2026-07-02 09:43:31,675 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.343034] moveTile calculated motor speeds left=96 right=100 gyroSteer=-1.1199999999998909 wallSteer=-2.8000000000000007 (+19.1 ms)
2026-07-02 09:43:31,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.363633] moveTile applied motor speed left=96 right=100 (+20.6 ms)
2026-07-02 09:43:31,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.369717] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:43:31,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.370355] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:31,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.374881] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:31,708 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3900000000000432 deg, practicalMoveTime: 0.4575739131379655 sec
2026-07-02 09:43:31,709 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:43:31,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.377078] moveTile loop end practicalMoveTime=0.458 (+2.2 ms)
2026-07-02 09:43:31,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.377454] moveTile loop start (+0.4 ms)
2026-07-02 09:43:31,716 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:31,722 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:43:31,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.402644] moveTile calculated motor speeds left=94 right=100 gyroSteer=-2.599999999999909 wallSteer=-2.8000000000000007 (+25.2 ms)
2026-07-02 09:43:31,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.422919] moveTile applied motor speed left=94 right=100 (+20.3 ms)
2026-07-02 09:43:31,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.426851] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:31,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.427569] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:31,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.435432] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:43:31,769 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7100000000000364 deg, practicalMoveTime: 0.51762649400288 sec
2026-07-02 09:43:31,770 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.5 ms
2026-07-02 09:43:31,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.439033] moveTile loop end practicalMoveTime=0.518 (+3.6 ms)
2026-07-02 09:43:31,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.439459] moveTile loop start (+0.4 ms)
2026-07-02 09:43:31,779 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cfed0>
2026-07-02 09:43:31,785 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.7, S=255.0, V=254.8
2026-07-02 09:43:31,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.459459] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.240000000000009 wallSteer=-2.8000000000000007 (+20.0 ms)
2026-07-02 09:43:31,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.479820] moveTile applied motor speed left=98 right=100 (+20.4 ms)
2026-07-02 09:43:31,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.483756] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:31,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.484497] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:31,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.488981] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:31,822 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.240000000000009 deg, practicalMoveTime: 0.5696617965569477 sec
2026-07-02 09:43:31,824 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:43:31,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.492060] moveTile loop end practicalMoveTime=0.570 (+3.1 ms)
2026-07-02 09:43:31,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.492932] moveTile loop start (+0.9 ms)
2026-07-02 09:43:31,834 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96e0ad10>
2026-07-02 09:43:31,842 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.5, S=255.0, V=254.9
2026-07-02 09:43:31,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.514361] moveTile calculated motor speeds left=100 right=97 gyroSteer=6.279999999999973 wallSteer=-4.0 (+21.4 ms)
2026-07-02 09:43:31,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.540200] moveTile applied motor speed left=100 right=97 (+25.8 ms)
2026-07-02 09:43:31,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.545728] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:43:31,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.546658] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:31,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.552689] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:43:31,886 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.6318556887450242 sec
2026-07-02 09:43:31,887 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.4 ms
2026-07-02 09:43:31,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.554875] moveTile loop end practicalMoveTime=0.632 (+2.2 ms)
2026-07-02 09:43:31,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.555362] moveTile loop start (+0.5 ms)
2026-07-02 09:43:31,894 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f841f0750>
2026-07-02 09:43:31,901 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:43:31,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.574085] moveTile calculated motor speeds left=100 right=92 gyroSteer=9.360000000000014 wallSteer=-2.0 (+18.7 ms)
2026-07-02 09:43:31,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.597711] moveTile applied motor speed left=100 right=92 (+23.6 ms)
2026-07-02 09:43:31,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.601369] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:31,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.601947] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:31,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.605833] moveTile ramp check isBigRamp=False (+3.9 ms)
2026-07-02 09:43:31,939 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8500000000000227 deg, practicalMoveTime: 0.6845752065379311 sec
2026-07-02 09:43:31,940 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:43:31,940 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.608336] moveTile loop end practicalMoveTime=0.685 (+2.5 ms)
2026-07-02 09:43:31,941 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.608784] moveTile loop start (+0.4 ms)
2026-07-02 09:43:31,947 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96e0a910>
2026-07-02 09:43:31,953 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:43:31,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.627986] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.559999999999945 wallSteer=-4.0 (+19.2 ms)
2026-07-02 09:43:31,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.648467] moveTile applied motor speed left=100 right=99 (+20.5 ms)
2026-07-02 09:43:31,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.652737] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:43:31,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.653600] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:31,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.660490] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:43:31,994 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4700000000000273 deg, practicalMoveTime: 0.7381297535084052 sec
2026-07-02 09:43:31,994 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:43:31,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.662390] moveTile loop end practicalMoveTime=0.738 (+1.9 ms)
2026-07-02 09:43:31,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.662768] moveTile loop start (+0.4 ms)
2026-07-02 09:43:32,003 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:32,009 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:43:32,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.681999] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.279999999999973 wallSteer=-3.6000000000000014 (+19.2 ms)
2026-07-02 09:43:32,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.702274] moveTile applied motor speed left=100 right=99 (+20.3 ms)
2026-07-02 09:43:32,039 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.707332] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:43:32,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.707940] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:32,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.718827] moveTile ramp check isBigRamp=False (+10.9 ms)
2026-07-02 09:43:32,052 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2800000000000296 deg, practicalMoveTime: 0.7959294482691907 sec
2026-07-02 09:43:32,053 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:43:32,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.720948] moveTile loop end practicalMoveTime=0.796 (+2.1 ms)
2026-07-02 09:43:32,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.721332] moveTile loop start (+0.4 ms)
2026-07-02 09:43:32,064 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96e0a910>
2026-07-02 09:43:32,071 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:43:32,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.745764] moveTile calculated motor speeds left=97 right=100 gyroSteer=0.8400000000000318 wallSteer=-3.1999999999999993 (+24.4 ms)
2026-07-02 09:43:32,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.769355] moveTile applied motor speed left=97 right=100 (+23.6 ms)
2026-07-02 09:43:32,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.773991] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:32,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.774638] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:32,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.782543] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:43:32,116 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.8589489930641431 sec
2026-07-02 09:43:32,116 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.8 ms
2026-07-02 09:43:32,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.784659] moveTile loop end practicalMoveTime=0.859 (+2.1 ms)
2026-07-02 09:43:32,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.785038] moveTile loop start (+0.4 ms)
2026-07-02 09:43:32,126 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:43:32,131 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:43:32,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.806775] moveTile calculated motor speeds left=98 right=100 gyroSteer=2.0399999999999636 wallSteer=-3.1999999999999993 (+21.7 ms)
2026-07-02 09:43:32,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.833667] moveTile applied motor speed left=98 right=100 (+26.9 ms)
2026-07-02 09:43:32,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.837526] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:32,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.838175] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:32,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.846556] moveTile ramp check isBigRamp=False (+8.4 ms)
2026-07-02 09:43:32,179 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.6082683452833865 CM
2026-07-02 09:43:32,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.867575] moveTile finished by time control (+21.0 ms)
2026-07-02 09:43:32,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.868298] moveTile start final forward adjustment (+21.7 ms)
2026-07-02 09:43:32,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [45.905120] moveTile finished final forward adjustment (+36.8 ms)
2026-07-02 09:43:32,399 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 114.37001796735143 cm
2026-07-02 09:43:32,400 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 105.19815859841586 cm
2026-07-02 09:43:32,401 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 129.604936302026 cm
2026-07-02 09:43:32,403 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.835690017732382 cm
2026-07-02 09:43:32,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.071411] moveTile updated map and detected walls (+166.3 ms)
2026-07-02 09:43:32,406 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:32,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.074519] moveTile finished (+169.4 ms)
2026-07-02 09:43:32,453 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:43:32,479 - __main__ - [main.py:110] - INFO - Current position: (20, 20, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=18..20
+   +
  B  
+   +
| E |
+   +
| @  
+   +
2026-07-02 09:43:32,487 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [46.154687] moveTile start direction=absDirection.SOUTH position=(20, 20, 0) front=absDirection.SOUTH
2026-07-02 09:43:32,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.159391] moveTile after initial toggle check (+4.7 ms)
2026-07-02 09:43:32,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.161846] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.5 ms)
2026-07-02 09:43:32,495 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (20, 20, 0) facing absDirection.SOUTH
2026-07-02 09:43:32,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.162870] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:43:32,525 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 181.48000000000002 target: 180
2026-07-02 09:43:32,547 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 181.48000000000002, diff: 1.4800000000000182
2026-07-02 09:43:32,591 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 181.41000000000003 deg
2026-07-02 09:43:32,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.259473] moveTile finished heading change (+96.6 ms)
2026-07-02 09:43:32,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.261039] Adjustment after ramp completed (+1.6 ms)
2026-07-02 09:43:32,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.261701] moveTile updated front direction (+0.7 ms)
2026-07-02 09:43:32,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.281321] moveTile stopped motors before alignment (+19.6 ms)
2026-07-02 09:43:32,767 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 113.3669596829856 cm
2026-07-02 09:43:32,768 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 105.7958814975608 cm
2026-07-02 09:43:32,770 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 129.5053107519269 cm
2026-07-02 09:43:32,772 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.856601377399205 cm
2026-07-02 09:43:32,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.441023] moveTile ready for forward move (+159.7 ms)
2026-07-02 09:43:32,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.467827] moveTile initialized movement targetSteps=1 (+26.8 ms)
2026-07-02 09:43:32,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.469752] moveTile loop start (+1.9 ms)
2026-07-02 09:43:32,811 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cf950>
2026-07-02 09:43:32,817 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:43:32,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.490120] moveTile calculated motor speeds left=98 right=100 gyroSteer=0.0 wallSteer=-1.6000000000000014 (+20.4 ms)
2026-07-02 09:43:32,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.513707] moveTile applied motor speed left=98 right=100 (+23.6 ms)
2026-07-02 09:43:32,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.517416] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:32,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.518055] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:32,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.522760] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:32,856 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9600000000000364 deg, practicalMoveTime: 0.05626627675171448 sec
2026-07-02 09:43:32,857 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:43:32,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.525458] moveTile loop end practicalMoveTime=0.056 (+2.7 ms)
2026-07-02 09:43:32,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.525936] moveTile loop start (+0.5 ms)
2026-07-02 09:43:32,866 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:43:32,873 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:43:32,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.548166] moveTile calculated motor speeds left=97 right=100 gyroSteer=-0.44000000000005457 wallSteer=-1.6000000000000014 (+22.2 ms)
2026-07-02 09:43:32,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.566918] moveTile applied motor speed left=97 right=100 (+18.8 ms)
2026-07-02 09:43:32,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.572198] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:43:32,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.573039] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:32,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.578132] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:32,911 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7300000000000182 deg, practicalMoveTime: 0.11032759289704488 sec
2026-07-02 09:43:32,912 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:43:32,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.580287] moveTile loop end practicalMoveTime=0.110 (+2.2 ms)
2026-07-02 09:43:32,913 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.580686] moveTile loop start (+0.4 ms)
2026-07-02 09:43:32,921 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cfed0>
2026-07-02 09:43:32,927 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:43:32,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.601888] moveTile calculated motor speeds left=97 right=100 gyroSteer=0.2400000000000091 wallSteer=-2.8000000000000007 (+21.2 ms)
2026-07-02 09:43:32,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.626631] moveTile applied motor speed left=97 right=100 (+24.7 ms)
2026-07-02 09:43:32,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.630293] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:32,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.630867] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:32,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.636234] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:43:32,969 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.160000000000025 deg, practicalMoveTime: 0.16773822429435245 sec
2026-07-02 09:43:32,970 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.0 ms
2026-07-02 09:43:32,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.638188] moveTile loop end practicalMoveTime=0.168 (+2.0 ms)
2026-07-02 09:43:32,971 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.638550] moveTile loop start (+0.4 ms)
2026-07-02 09:43:32,983 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f59b790>
2026-07-02 09:43:32,990 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:43:32,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.662960] moveTile calculated motor speeds left=95 right=100 gyroSteer=-1.1199999999998909 wallSteer=-3.1999999999999993 (+24.4 ms)
2026-07-02 09:43:33,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.690398] moveTile applied motor speed left=95 right=100 (+27.4 ms)
2026-07-02 09:43:33,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.694425] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:33,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.695046] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.699681] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:43:33,033 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2200000000000273 deg, practicalMoveTime: 0.23075513249042573 sec
2026-07-02 09:43:33,034 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.0 ms
2026-07-02 09:43:33,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.702099] moveTile loop end practicalMoveTime=0.231 (+2.4 ms)
2026-07-02 09:43:33,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.702504] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,042 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4b36d0>
2026-07-02 09:43:33,048 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:43:33,055 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.722641] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.4800000000000182 wallSteer=0.0 (+20.1 ms)
2026-07-02 09:43:33,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.745835] moveTile applied motor speed left=99 right=100 (+23.2 ms)
2026-07-02 09:43:33,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.751220] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:43:33,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.751901] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:33,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.757902] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:43:33,093 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1000000000000227 deg, practicalMoveTime: 0.28946799855214217 sec
2026-07-02 09:43:33,094 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:43:33,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.762015] moveTile loop end practicalMoveTime=0.289 (+4.1 ms)
2026-07-02 09:43:33,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.762397] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,102 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb91b90>
2026-07-02 09:43:33,109 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:43:33,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.784475] moveTile calculated motor speeds left=100 right=92 gyroSteer=1.6400000000001 wallSteer=5.600000000000001 (+22.1 ms)
2026-07-02 09:43:33,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.804456] moveTile applied motor speed left=100 right=92 (+20.0 ms)
2026-07-02 09:43:33,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.808488] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:33,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.809072] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,151 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.819184] moveTile ramp check isBigRamp=False (+10.1 ms)
2026-07-02 09:43:33,152 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9399999999999977 deg, practicalMoveTime: 0.34811417496638497 sec
2026-07-02 09:43:33,153 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.4 ms
2026-07-02 09:43:33,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.821282] moveTile loop end practicalMoveTime=0.348 (+2.1 ms)
2026-07-02 09:43:33,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.821650] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,163 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:33,169 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:43:33,176 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.843801] moveTile calculated motor speeds left=100 right=95 gyroSteer=0.20000000000004547 wallSteer=4.0 (+22.2 ms)
2026-07-02 09:43:33,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.863341] moveTile applied motor speed left=100 right=95 (+19.5 ms)
2026-07-02 09:43:33,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.867818] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:33,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.868441] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,208 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.875734] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:43:33,209 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.020000000000038654 deg, practicalMoveTime: 0.4040433555189452 sec
2026-07-02 09:43:33,210 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:43:33,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.878014] moveTile loop end practicalMoveTime=0.404 (+2.3 ms)
2026-07-02 09:43:33,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.878413] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,219 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:33,225 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=255.0
2026-07-02 09:43:33,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.899462] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.5199999999999818 wallSteer=4.400000000000002 (+21.0 ms)
2026-07-02 09:43:33,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.920185] moveTile applied motor speed left=100 right=96 (+20.7 ms)
2026-07-02 09:43:33,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.925000] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:33,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.925611] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.930348] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:33,263 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8300000000000409 deg, practicalMoveTime: 0.4578592720855217 sec
2026-07-02 09:43:33,264 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:43:33,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.932410] moveTile loop end practicalMoveTime=0.458 (+2.1 ms)
2026-07-02 09:43:33,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.932828] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,272 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:43:33,280 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:43:33,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.953699] moveTile calculated motor speeds left=100 right=95 gyroSteer=-4.67999999999995 wallSteer=9.2 (+20.9 ms)
2026-07-02 09:43:33,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.973193] moveTile applied motor speed left=100 right=95 (+19.5 ms)
2026-07-02 09:43:33,309 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.976844] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:33,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.977434] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.985103] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:43:33,318 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.45000000000005 deg, practicalMoveTime: 0.5120378747360617 sec
2026-07-02 09:43:33,319 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:43:33,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.987101] moveTile loop end practicalMoveTime=0.512 (+2.0 ms)
2026-07-02 09:43:33,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [46.987485] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,326 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb90650>
2026-07-02 09:43:33,332 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=255.0
2026-07-02 09:43:33,338 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.005977] moveTile calculated motor speeds left=100 right=95 gyroSteer=-4.119999999999891 wallSteer=8.8 (+18.5 ms)
2026-07-02 09:43:33,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.031445] moveTile applied motor speed left=100 right=95 (+25.5 ms)
2026-07-02 09:43:33,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.035090] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:33,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.035587] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:33,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.046363] moveTile ramp check isBigRamp=False (+10.8 ms)
2026-07-02 09:43:33,380 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7900000000000205 deg, practicalMoveTime: 0.572743487673913 sec
2026-07-02 09:43:33,380 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.4 ms
2026-07-02 09:43:33,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.048528] moveTile loop end practicalMoveTime=0.573 (+2.2 ms)
2026-07-02 09:43:33,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.048921] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,391 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4b36d0>
2026-07-02 09:43:33,397 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:43:33,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.072916] moveTile calculated motor speeds left=98 right=100 gyroSteer=-10.0 wallSteer=8.0 (+24.0 ms)
2026-07-02 09:43:33,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.096083] moveTile applied motor speed left=98 right=100 (+23.2 ms)
2026-07-02 09:43:33,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.100107] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:33,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.100670] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.106821] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:33,440 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.6326789171696551 sec
2026-07-02 09:43:33,441 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:43:33,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.109452] moveTile loop end practicalMoveTime=0.633 (+2.6 ms)
2026-07-02 09:43:33,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.109827] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,448 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:33,455 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:43:33,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.128611] moveTile calculated motor speeds left=98 right=100 gyroSteer=-8.960000000000036 wallSteer=7.199999999999999 (+18.8 ms)
2026-07-02 09:43:33,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.149551] moveTile applied motor speed left=98 right=100 (+20.9 ms)
2026-07-02 09:43:33,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.153226] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:33,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.154654] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:43:33,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.161531] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:43:33,495 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3400000000000318 deg, practicalMoveTime: 0.686138481271146 sec
2026-07-02 09:43:33,495 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:43:33,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.164302] moveTile loop end practicalMoveTime=0.686 (+2.8 ms)
2026-07-02 09:43:33,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.164893] moveTile loop start (+0.6 ms)
2026-07-02 09:43:33,507 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cffd0>
2026-07-02 09:43:33,513 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=255.0
2026-07-02 09:43:33,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.186010] moveTile calculated motor speeds left=94 right=100 gyroSteer=-12.319999999999936 wallSteer=6.399999999999999 (+21.1 ms)
2026-07-02 09:43:33,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.207630] moveTile applied motor speed left=94 right=100 (+21.6 ms)
2026-07-02 09:43:33,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.213711] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:43:33,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.214352] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.219827] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:33,553 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6000000000000227 deg, practicalMoveTime: 0.7438910231834509 sec
2026-07-02 09:43:33,554 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.3 ms
2026-07-02 09:43:33,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.222874] moveTile loop end practicalMoveTime=0.744 (+3.0 ms)
2026-07-02 09:43:33,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.223299] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,560 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f97189d10>
2026-07-02 09:43:33,568 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.9, S=255.0, V=255.0
2026-07-02 09:43:33,573 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.240931] moveTile calculated motor speeds left=91 right=100 gyroSteer=-10.240000000000009 wallSteer=1.6000000000000014 (+17.6 ms)
2026-07-02 09:43:33,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.267804] moveTile applied motor speed left=91 right=100 (+26.9 ms)
2026-07-02 09:43:33,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.272284] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:33,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.273265] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:43:33,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.279111] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:33,612 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8700000000000045 deg, practicalMoveTime: 0.8018269724033271 sec
2026-07-02 09:43:33,613 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:43:33,614 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.281779] moveTile loop end practicalMoveTime=0.802 (+2.7 ms)
2026-07-02 09:43:33,614 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.282194] moveTile loop start (+0.4 ms)
2026-07-02 09:43:33,619 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f24e8d0>
2026-07-02 09:43:33,628 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:43:33,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.309306] moveTile calculated motor speeds left=92 right=100 gyroSteer=-11.720000000000027 wallSteer=4.399999999999999 (+27.1 ms)
2026-07-02 09:43:33,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.337031] moveTile applied motor speed left=92 right=100 (+27.7 ms)
2026-07-02 09:43:33,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.342060] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:43:33,675 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.342661] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:33,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.348294] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:33,681 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.3880868877805741 CM
2026-07-02 09:43:33,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.368353] moveTile finished by time control (+20.1 ms)
2026-07-02 09:43:33,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.369042] moveTile start final forward adjustment (+20.7 ms)
2026-07-02 09:43:33,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.397870] moveTile finished final forward adjustment (+28.8 ms)
2026-07-02 09:43:33,731 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.3880868877805741 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:43:33,732 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.399673] moveTile updated moved vertical distance 0.388 (+1.8 ms)
2026-07-02 09:43:33,886 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 144.14885663170122 cm
2026-07-02 09:43:33,888 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 15.64623661938868 cm
2026-07-02 09:43:33,889 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 100.45469681684041 cm
2026-07-02 09:43:33,891 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:33,892 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.26029516085659 cm
2026-07-02 09:43:33,893 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.560746] moveTile updated map and detected walls (+161.1 ms)
2026-07-02 09:43:33,895 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:33,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.563782] moveTile finished (+164.1 ms)
2026-07-02 09:43:33,942 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:43:33,971 - __main__ - [main.py:110] - INFO - Current position: (20, 21, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=18..21
+   +
  B  
+   +
| E |
+   +
| E  
+   +
| @ |
+   +
2026-07-02 09:43:33,979 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 22, 0)
2026-07-02 09:43:33,981 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:33,982 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [47.649639] moveTile start direction=absDirection.SOUTH position=(20, 21, 0) front=absDirection.SOUTH
2026-07-02 09:43:33,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.654884] moveTile after initial toggle check (+5.2 ms)
2026-07-02 09:43:33,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.657067] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:43:33,990 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (20, 21, 0) facing absDirection.SOUTH
2026-07-02 09:43:33,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.657999] moveTile start heading change target=180 (+0.9 ms)
2026-07-02 09:43:34,019 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 180.06 target: 180
2026-07-02 09:43:34,042 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 180.06, diff: 0.060000000000002274
2026-07-02 09:43:34,089 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 179.96 deg
2026-07-02 09:43:34,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.757186] moveTile finished heading change (+99.2 ms)
2026-07-02 09:43:34,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.757703] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:34,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.758212] moveTile updated front direction (+0.5 ms)
2026-07-02 09:43:34,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.778344] moveTile stopped motors before alignment (+20.1 ms)
2026-07-02 09:43:34,254 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 143.6029301452832 cm
2026-07-02 09:43:34,255 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 15.897577971574995 cm
2026-07-02 09:43:34,257 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 98.82251101055621 cm
2026-07-02 09:43:34,260 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.939115169467929 cm
2026-07-02 09:43:34,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.928908] moveTile ready for forward move (+150.6 ms)
2026-07-02 09:43:34,288 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.955879] moveTile initialized movement targetSteps=1 (+27.0 ms)
2026-07-02 09:43:34,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.959105] moveTile loop start (+3.2 ms)
2026-07-02 09:43:34,299 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb90ed0>
2026-07-02 09:43:34,305 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:43:34,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [47.979591] moveTile calculated motor speeds left=97 right=100 gyroSteer=-4.7999999999999545 wallSteer=2.0 (+20.5 ms)
2026-07-02 09:43:34,338 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.005908] moveTile applied motor speed left=97 right=100 (+26.3 ms)
2026-07-02 09:43:34,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.010025] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:34,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.011393] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:43:34,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.019476] moveTile ramp check isBigRamp=False (+8.1 ms)
2026-07-02 09:43:34,353 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6800000000000068 deg, practicalMoveTime: 0.06483288946011923 sec
2026-07-02 09:43:34,354 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.3 ms
2026-07-02 09:43:34,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.021969] moveTile loop end practicalMoveTime=0.065 (+2.5 ms)
2026-07-02 09:43:34,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.022376] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,363 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb90ed0>
2026-07-02 09:43:34,369 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:43:34,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.045009] moveTile calculated motor speeds left=98 right=100 gyroSteer=-3.7999999999999545 wallSteer=2.3999999999999986 (+22.6 ms)
2026-07-02 09:43:34,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.066499] moveTile applied motor speed left=98 right=100 (+21.5 ms)
2026-07-02 09:43:34,402 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.070172] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:34,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.070811] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:34,409 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.076401] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:34,410 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.03000000000002956 deg, practicalMoveTime: 0.1211421049164216 sec
2026-07-02 09:43:34,411 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:43:34,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.079050] moveTile loop end practicalMoveTime=0.121 (+2.6 ms)
2026-07-02 09:43:34,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.079456] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,421 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:43:34,428 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:43:34,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.102904] moveTile calculated motor speeds left=96 right=100 gyroSteer=-5.759999999999991 wallSteer=2.3999999999999986 (+23.4 ms)
2026-07-02 09:43:34,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.126702] moveTile applied motor speed left=96 right=100 (+23.8 ms)
2026-07-02 09:43:34,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.131948] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:43:34,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.132705] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:34,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.139417] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:43:34,472 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.30000000000001137 deg, practicalMoveTime: 0.1829133662376511 sec
2026-07-02 09:43:34,473 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.4 ms
2026-07-02 09:43:34,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.141363] moveTile loop end practicalMoveTime=0.183 (+1.9 ms)
2026-07-02 09:43:34,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.141755] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,480 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cfed0>
2026-07-02 09:43:34,487 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:43:34,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.161400] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.519999999999982 wallSteer=2.3999999999999986 (+19.6 ms)
2026-07-02 09:43:34,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.180965] moveTile applied motor speed left=95 right=100 (+19.6 ms)
2026-07-02 09:43:34,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.184858] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:34,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.185799] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:34,523 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.191172] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:43:34,524 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.16 deg, practicalMoveTime: 0.23407869301559264 sec
2026-07-02 09:43:34,525 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.9 ms
2026-07-02 09:43:34,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.193374] moveTile loop end practicalMoveTime=0.234 (+2.2 ms)
2026-07-02 09:43:34,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.193776] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,536 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f24e8d0>
2026-07-02 09:43:34,541 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:43:34,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.216364] moveTile calculated motor speeds left=98 right=100 gyroSteer=-2.8799999999999955 wallSteer=1.6000000000000014 (+22.6 ms)
2026-07-02 09:43:34,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.241508] moveTile applied motor speed left=98 right=100 (+25.1 ms)
2026-07-02 09:43:34,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.246203] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:43:34,580 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.247757] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:43:34,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.253522] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:34,587 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9000000000000341 deg, practicalMoveTime: 0.29578525185458304 sec
2026-07-02 09:43:34,588 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.8 ms
2026-07-02 09:43:34,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.256544] moveTile loop end practicalMoveTime=0.296 (+3.0 ms)
2026-07-02 09:43:34,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.257745] moveTile loop start (+1.2 ms)
2026-07-02 09:43:34,597 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:43:34,603 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:43:34,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.278515] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.3599999999999 wallSteer=2.0 (+20.8 ms)
2026-07-02 09:43:34,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.304607] moveTile applied motor speed left=95 right=100 (+26.1 ms)
2026-07-02 09:43:34,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.309996] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:43:34,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.310982] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:43:34,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.315006] moveTile ramp check isBigRamp=False (+4.0 ms)
2026-07-02 09:43:34,649 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.99 deg, practicalMoveTime: 0.35635596778994844 sec
2026-07-02 09:43:34,650 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:43:34,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.318912] moveTile loop end practicalMoveTime=0.356 (+3.9 ms)
2026-07-02 09:43:34,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.319367] moveTile loop start (+0.5 ms)
2026-07-02 09:43:34,657 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fbb0bd0>
2026-07-02 09:43:34,663 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:43:34,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.336844] moveTile calculated motor speeds left=99 right=100 gyroSteer=-1.6399999999999864 wallSteer=1.6000000000000014 (+17.5 ms)
2026-07-02 09:43:34,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.359648] moveTile applied motor speed left=99 right=100 (+22.8 ms)
2026-07-02 09:43:34,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.365413] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:43:34,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.366220] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:34,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.372562] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:43:34,706 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.41204001456429007 sec
2026-07-02 09:43:34,706 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:43:34,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.374720] moveTile loop end practicalMoveTime=0.412 (+2.2 ms)
2026-07-02 09:43:34,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.375087] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,714 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f97189d10>
2026-07-02 09:43:34,721 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:43:34,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.395777] moveTile calculated motor speeds left=90 right=100 gyroSteer=-6.759999999999991 wallSteer=-2.8000000000000007 (+20.7 ms)
2026-07-02 09:43:34,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.417648] moveTile applied motor speed left=90 right=100 (+21.9 ms)
2026-07-02 09:43:34,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.421627] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:34,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.422149] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:34,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.428947] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:43:34,762 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.46764484120848193 sec
2026-07-02 09:43:34,763 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:43:34,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.430965] moveTile loop end practicalMoveTime=0.468 (+2.0 ms)
2026-07-02 09:43:34,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.431345] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,774 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ebd3e90>
2026-07-02 09:43:34,780 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:43:34,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.455532] moveTile calculated motor speeds left=94 right=100 gyroSteer=-2.240000000000009 wallSteer=-3.1999999999999993 (+24.2 ms)
2026-07-02 09:43:34,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.478823] moveTile applied motor speed left=94 right=100 (+23.3 ms)
2026-07-02 09:43:34,815 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.482596] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:34,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.483944] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:43:34,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.492109] moveTile ramp check isBigRamp=False (+8.2 ms)
2026-07-02 09:43:34,826 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4800000000000182 deg, practicalMoveTime: 0.5308080243589559 sec
2026-07-02 09:43:34,827 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.1 ms
2026-07-02 09:43:34,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.495034] moveTile loop end practicalMoveTime=0.531 (+2.9 ms)
2026-07-02 09:43:34,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.495441] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,836 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96e0a910>
2026-07-02 09:43:34,841 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:43:34,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.515032] moveTile calculated motor speeds left=95 right=100 gyroSteer=-0.9600000000000364 wallSteer=-3.599999999999998 (+19.6 ms)
2026-07-02 09:43:34,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.535673] moveTile applied motor speed left=95 right=100 (+20.6 ms)
2026-07-02 09:43:34,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.540434] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:34,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.541811] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:43:34,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.547460] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:34,881 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1200000000000045 deg, practicalMoveTime: 0.5846262182898017 sec
2026-07-02 09:43:34,881 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:43:34,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.549479] moveTile loop end practicalMoveTime=0.585 (+2.0 ms)
2026-07-02 09:43:34,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.549841] moveTile loop start (+0.4 ms)
2026-07-02 09:43:34,892 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:34,898 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:43:34,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.571555] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.9199999999999591 wallSteer=-2.8000000000000007 (+21.7 ms)
2026-07-02 09:43:34,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.590967] moveTile applied motor speed left=96 right=100 (+19.4 ms)
2026-07-02 09:43:34,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.596321] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:43:34,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.597683] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:43:34,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.602654] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:43:34,936 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.21000000000003638 deg, practicalMoveTime: 0.6391161801238917 sec
2026-07-02 09:43:34,936 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:43:34,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.604899] moveTile loop end practicalMoveTime=0.639 (+2.2 ms)
2026-07-02 09:43:34,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.605891] moveTile loop start (+1.0 ms)
2026-07-02 09:43:34,944 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f97189d10>
2026-07-02 09:43:34,950 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:43:34,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.630504] moveTile calculated motor speeds left=98 right=100 gyroSteer=0.9600000000000364 wallSteer=-2.8000000000000007 (+24.6 ms)
2026-07-02 09:43:34,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.657434] moveTile applied motor speed left=98 right=100 (+26.9 ms)
2026-07-02 09:43:34,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.661293] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:34,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.661928] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:34,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.666536] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:43:35,000 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.22000000000002728 deg, practicalMoveTime: 0.7028118565842945 sec
2026-07-02 09:43:35,001 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.2 ms
2026-07-02 09:43:35,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.669720] moveTile loop end practicalMoveTime=0.703 (+3.2 ms)
2026-07-02 09:43:35,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.670093] moveTile loop start (+0.4 ms)
2026-07-02 09:43:35,007 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:43:35,014 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:43:35,022 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.689662] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.8800000000001091 wallSteer=-3.1999999999999993 (+19.6 ms)
2026-07-02 09:43:35,043 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.711346] moveTile applied motor speed left=98 right=100 (+21.7 ms)
2026-07-02 09:43:35,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.715601] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:43:35,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.716260] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:35,056 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.724189] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:43:35,057 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.7587438459670676 sec
2026-07-02 09:43:35,058 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:43:35,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.726307] moveTile loop end practicalMoveTime=0.759 (+2.1 ms)
2026-07-02 09:43:35,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.726666] moveTile loop start (+0.4 ms)
2026-07-02 09:43:35,070 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:35,077 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.2, S=250.6, V=224.9
2026-07-02 09:43:35,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.749542] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.2000000000000455 wallSteer=-3.1999999999999993 (+22.9 ms)
2026-07-02 09:43:35,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.775300] moveTile applied motor speed left=99 right=100 (+25.8 ms)
2026-07-02 09:43:35,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.779285] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:35,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.779974] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:35,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.788231] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:43:35,121 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.65000000000003 deg, practicalMoveTime: 0.8220120422570484 sec
2026-07-02 09:43:35,122 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.0 ms
2026-07-02 09:43:35,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.790241] moveTile loop end practicalMoveTime=0.822 (+2.0 ms)
2026-07-02 09:43:35,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.790724] moveTile loop start (+0.5 ms)
2026-07-02 09:43:35,129 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:35,135 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.0, S=253.6, V=181.1
2026-07-02 09:43:35,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.809850] moveTile calculated motor speeds left=97 right=100 gyroSteer=0.6800000000000637 wallSteer=-3.1999999999999993 (+19.1 ms)
2026-07-02 09:43:35,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.835609] moveTile applied motor speed left=97 right=100 (+25.8 ms)
2026-07-02 09:43:35,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.839513] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:35,173 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.841052] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:43:35,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.850146] moveTile ramp check isBigRamp=False (+9.1 ms)
2026-07-02 09:43:35,183 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.14908833187948314 CM
2026-07-02 09:43:35,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.877446] moveTile finished by time control (+27.3 ms)
2026-07-02 09:43:35,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.878129] moveTile start final forward adjustment (+28.0 ms)
2026-07-02 09:43:35,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.910216] moveTile finished final forward adjustment (+32.1 ms)
2026-07-02 09:43:35,243 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.14908833187948314 cm, past distances: [(0.3880868877805741, False), (0, False), (0, False), (0, False)]
2026-07-02 09:43:35,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [48.911840] moveTile updated moved vertical distance 0.149 (+1.6 ms)
2026-07-02 09:43:35,406 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 175.19321502634625 cm
2026-07-02 09:43:35,407 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 16.198088408987058 cm
2026-07-02 09:43:35,409 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 70.54438674336812 cm
2026-07-02 09:43:35,412 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:35,413 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.11125546372602 cm
2026-07-02 09:43:35,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.082507] moveTile updated map and detected walls (+170.7 ms)
2026-07-02 09:43:35,417 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:35,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.086487] moveTile finished (+174.6 ms)
2026-07-02 09:43:35,462 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:43:35,487 - __main__ - [main.py:110] - INFO - Current position: (20, 22, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=18..22
+   +
  B  
+   +
| E |
+   +
| E  
+   +
| E |
+   +
| @ |
+   +
2026-07-02 09:43:35,495 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 23, 0)
2026-07-02 09:43:35,497 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:35,497 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [49.165359] moveTile start direction=absDirection.SOUTH position=(20, 22, 0) front=absDirection.SOUTH
2026-07-02 09:43:35,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.169734] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:43:35,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.171755] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.0 ms)
2026-07-02 09:43:35,504 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (20, 22, 0) facing absDirection.SOUTH
2026-07-02 09:43:35,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.172673] moveTile start heading change target=180 (+0.9 ms)
2026-07-02 09:43:35,536 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 181.75 target: 180
2026-07-02 09:43:35,561 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 181.75, diff: 1.75
2026-07-02 09:43:35,607 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 181.92000000000002 deg
2026-07-02 09:43:35,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.275737] moveTile finished heading change (+103.1 ms)
2026-07-02 09:43:35,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.276253] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:35,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.276662] moveTile updated front direction (+0.4 ms)
2026-07-02 09:43:35,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.298032] moveTile stopped motors before alignment (+21.4 ms)
2026-07-02 09:43:35,806 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 175.15961430080128 cm
2026-07-02 09:43:35,807 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 15.890313768366276 cm
2026-07-02 09:43:35,808 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 68.71390284133648 cm
2026-07-02 09:43:35,810 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.897577971574995 cm
2026-07-02 09:43:35,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.478505] moveTile ready for forward move (+180.5 ms)
2026-07-02 09:43:35,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.504825] moveTile initialized movement targetSteps=1 (+26.3 ms)
2026-07-02 09:43:35,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.506313] moveTile loop start (+1.5 ms)
2026-07-02 09:43:35,845 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f6ca10>
2026-07-02 09:43:35,851 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.8, S=254.1, V=178.1
2026-07-02 09:43:35,856 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.523700] moveTile calculated motor speeds left=100 right=95 gyroSteer=2.6000000000000227 wallSteer=2.0 (+17.4 ms)
2026-07-02 09:43:35,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.545004] moveTile applied motor speed left=100 right=95 (+21.3 ms)
2026-07-02 09:43:35,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.548635] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:35,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.549219] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:35,888 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.555739] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:43:35,889 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.94 deg, practicalMoveTime: 0.05203190965105733 sec
2026-07-02 09:43:35,890 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:43:35,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.558429] moveTile loop end practicalMoveTime=0.052 (+2.7 ms)
2026-07-02 09:43:35,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.558797] moveTile loop start (+0.4 ms)
2026-07-02 09:43:35,898 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ebd3e90>
2026-07-02 09:43:35,904 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.8, S=254.3, V=178.3
2026-07-02 09:43:35,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.576828] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.080000000000041 wallSteer=1.6000000000000014 (+18.0 ms)
2026-07-02 09:43:35,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.598129] moveTile applied motor speed left=100 right=97 (+21.3 ms)
2026-07-02 09:43:35,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.602211] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:35,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.602814] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:35,940 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.607624] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:35,941 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.68 deg, practicalMoveTime: 0.1026971909988937 sec
2026-07-02 09:43:35,942 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:43:35,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.610084] moveTile loop end practicalMoveTime=0.103 (+2.5 ms)
2026-07-02 09:43:35,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.610455] moveTile loop start (+0.4 ms)
2026-07-02 09:43:35,951 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8ea40450>
2026-07-02 09:43:35,957 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.8, S=254.1, V=177.3
2026-07-02 09:43:35,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.629862] moveTile calculated motor speeds left=97 right=100 gyroSteer=-0.39999999999997726 wallSteer=-2.400000000000002 (+19.4 ms)
2026-07-02 09:43:35,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.657577] moveTile applied motor speed left=97 right=100 (+27.7 ms)
2026-07-02 09:43:35,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.662181] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:35,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.662831] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:36,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.669868] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:43:36,003 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.28000000000003 deg, practicalMoveTime: 0.16380732127578002 sec
2026-07-02 09:43:36,004 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.8 ms
2026-07-02 09:43:36,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.671801] moveTile loop end practicalMoveTime=0.164 (+1.9 ms)
2026-07-02 09:43:36,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.672257] moveTile loop start (+0.5 ms)
2026-07-02 09:43:36,011 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ebd3e90>
2026-07-02 09:43:36,018 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.6, S=254.7, V=181.3
2026-07-02 09:43:36,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.691966] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.6400000000001 wallSteer=-2.400000000000002 (+19.7 ms)
2026-07-02 09:43:36,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.717298] moveTile applied motor speed left=99 right=100 (+25.3 ms)
2026-07-02 09:43:36,054 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.721646] moveTile tile color check tempTileColor=V (+4.3 ms)
2026-07-02 09:43:36,055 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.723308] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:43:36,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.732891] moveTile ramp check isBigRamp=False (+9.6 ms)
2026-07-02 09:43:36,066 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.82000000000005 deg, practicalMoveTime: 0.22621819783710984 sec
2026-07-02 09:43:36,067 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.1 ms
2026-07-02 09:43:36,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.734852] moveTile loop end practicalMoveTime=0.226 (+2.0 ms)
2026-07-02 09:43:36,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.735220] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,077 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:36,083 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.9, S=254.8, V=177.3
2026-07-02 09:43:36,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.758220] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.7200000000000273 wallSteer=-2.400000000000002 (+23.0 ms)
2026-07-02 09:43:36,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.778741] moveTile applied motor speed left=96 right=100 (+20.5 ms)
2026-07-02 09:43:36,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.782408] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:43:36,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.782956] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:36,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.789599] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:43:36,123 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.28299216775645086 sec
2026-07-02 09:43:36,124 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:43:36,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.793093] moveTile loop end practicalMoveTime=0.283 (+3.5 ms)
2026-07-02 09:43:36,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.793483] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,134 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:36,140 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.9, S=254.8, V=178.6
2026-07-02 09:43:36,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.813149] moveTile calculated motor speeds left=100 right=98 gyroSteer=2.9200000000000728 wallSteer=-1.6000000000000014 (+19.7 ms)
2026-07-02 09:43:36,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.834448] moveTile applied motor speed left=100 right=98 (+21.3 ms)
2026-07-02 09:43:36,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.838957] moveTile tile color check tempTileColor=V (+4.5 ms)
2026-07-02 09:43:36,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.839604] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:36,176 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.843983] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:43:36,177 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6800000000000068 deg, practicalMoveTime: 0.33582772563409463 sec
2026-07-02 09:43:36,178 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:43:36,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.846767] moveTile loop end practicalMoveTime=0.336 (+2.8 ms)
2026-07-02 09:43:36,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.847202] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,186 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb92910>
2026-07-02 09:43:36,192 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.6, S=254.5, V=183.4
2026-07-02 09:43:36,198 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.866213] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.32000000000005 wallSteer=-2.0 (+19.0 ms)
2026-07-02 09:43:36,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.892222] moveTile applied motor speed left=99 right=100 (+26.0 ms)
2026-07-02 09:43:36,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.895847] moveTile tile color check tempTileColor=V (+3.6 ms)
2026-07-02 09:43:36,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.896621] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:36,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.900982] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:43:36,234 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.45000000000005 deg, practicalMoveTime: 0.39154954064341224 sec
2026-07-02 09:43:36,235 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:43:36,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.902860] moveTile loop end practicalMoveTime=0.392 (+1.9 ms)
2026-07-02 09:43:36,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.903360] moveTile loop start (+0.5 ms)
2026-07-02 09:43:36,242 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:36,248 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.6, S=254.9, V=190.6
2026-07-02 09:43:36,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.920834] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.6400000000001 wallSteer=1.2000000000000028 (+17.5 ms)
2026-07-02 09:43:36,279 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.947063] moveTile applied motor speed left=100 right=97 (+26.2 ms)
2026-07-02 09:43:36,283 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.951247] moveTile tile color check tempTileColor=V (+4.2 ms)
2026-07-02 09:43:36,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.952267] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:43:36,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.956782] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:36,290 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.4467319454920852 sec
2026-07-02 09:43:36,291 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:43:36,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.959381] moveTile loop end practicalMoveTime=0.447 (+2.6 ms)
2026-07-02 09:43:36,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.959794] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,302 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ebd3e90>
2026-07-02 09:43:36,308 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.1, S=254.3, V=195.6
2026-07-02 09:43:36,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [49.980792] moveTile calculated motor speeds left=100 right=97 gyroSteer=0.7599999999999909 wallSteer=2.0 (+21.0 ms)
2026-07-02 09:43:36,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.001514] moveTile applied motor speed left=100 right=97 (+20.7 ms)
2026-07-02 09:43:36,338 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.006309] moveTile tile color check tempTileColor=V (+4.8 ms)
2026-07-02 09:43:36,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.006890] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:36,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.012777] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:36,346 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.78000000000003 deg, practicalMoveTime: 0.501700612616707 sec
2026-07-02 09:43:36,347 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:43:36,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.015856] moveTile loop end practicalMoveTime=0.502 (+3.1 ms)
2026-07-02 09:43:36,349 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.016658] moveTile loop start (+0.8 ms)
2026-07-02 09:43:36,358 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:36,364 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.5, S=254.5, V=191.5
2026-07-02 09:43:36,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.038902] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.240000000000009 wallSteer=2.0 (+22.2 ms)
2026-07-02 09:43:36,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.066942] moveTile applied motor speed left=100 right=96 (+28.0 ms)
2026-07-02 09:43:36,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.070613] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:43:36,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.071170] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:36,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.074782] moveTile ramp check isBigRamp=False (+3.6 ms)
2026-07-02 09:43:36,408 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2400000000000091 deg, practicalMoveTime: 0.5627726647957133 sec
2026-07-02 09:43:36,409 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.4 ms
2026-07-02 09:43:36,410 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.077750] moveTile loop end practicalMoveTime=0.563 (+3.0 ms)
2026-07-02 09:43:36,410 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.078216] moveTile loop start (+0.5 ms)
2026-07-02 09:43:36,419 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:36,425 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.1, S=254.5, V=199.4
2026-07-02 09:43:36,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.097630] moveTile calculated motor speeds left=100 right=97 gyroSteer=0.9200000000000728 wallSteer=2.0 (+19.4 ms)
2026-07-02 09:43:36,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.117369] moveTile applied motor speed left=100 right=97 (+19.7 ms)
2026-07-02 09:43:36,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.122615] moveTile tile color check tempTileColor=V (+5.2 ms)
2026-07-02 09:43:36,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.123363] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:36,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.129334] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:43:36,462 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3100000000000023 deg, practicalMoveTime: 0.6157842898438143 sec
2026-07-02 09:43:36,463 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:43:36,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.131255] moveTile loop end practicalMoveTime=0.616 (+1.9 ms)
2026-07-02 09:43:36,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.131613] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,471 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fbb2310>
2026-07-02 09:43:36,477 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=105.5, S=254.6, V=210.6
2026-07-02 09:43:36,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.150228] moveTile calculated motor speeds left=98 right=100 gyroSteer=0.36000000000001364 wallSteer=-2.0 (+18.6 ms)
2026-07-02 09:43:36,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.170711] moveTile applied motor speed left=98 right=100 (+20.5 ms)
2026-07-02 09:43:36,507 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.174411] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:43:36,507 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.175022] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:36,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.182862] moveTile ramp check isBigRamp=False (+7.8 ms)
2026-07-02 09:43:36,516 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.3 deg, practicalMoveTime: 0.6687209459392556 sec
2026-07-02 09:43:36,517 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:43:36,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.185096] moveTile loop end practicalMoveTime=0.669 (+2.2 ms)
2026-07-02 09:43:36,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.185534] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,524 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fbb0bd0>
2026-07-02 09:43:36,530 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=105.4, S=255.0, V=214.7
2026-07-02 09:43:36,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.205331] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.4800000000000182 wallSteer=-2.0 (+19.8 ms)
2026-07-02 09:43:36,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.225578] moveTile applied motor speed left=99 right=100 (+20.2 ms)
2026-07-02 09:43:36,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.230921] moveTile tile color check tempTileColor=V (+5.3 ms)
2026-07-02 09:43:36,564 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.231550] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:36,569 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.237111] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:36,570 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8600000000000136 deg, practicalMoveTime: 0.7222386956468039 sec
2026-07-02 09:43:36,571 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:43:36,571 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.239233] moveTile loop end practicalMoveTime=0.722 (+2.1 ms)
2026-07-02 09:43:36,572 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.239624] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,579 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ebd3e90>
2026-07-02 09:43:36,585 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.7, S=255.0, V=231.7
2026-07-02 09:43:36,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.259955] moveTile calculated motor speeds left=100 right=95 gyroSteer=2.7999999999999545 wallSteer=2.0 (+20.3 ms)
2026-07-02 09:43:36,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.279588] moveTile applied motor speed left=100 right=95 (+19.6 ms)
2026-07-02 09:43:36,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.283288] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:43:36,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.283798] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:36,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.289878] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:43:36,623 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.74 deg, practicalMoveTime: 0.7742697880931158 sec
2026-07-02 09:43:36,624 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:43:36,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.291846] moveTile loop end practicalMoveTime=0.774 (+2.0 ms)
2026-07-02 09:43:36,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.292305] moveTile loop start (+0.5 ms)
2026-07-02 09:43:36,631 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f8fb91b90>
2026-07-02 09:43:36,637 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.7, S=255.0, V=244.1
2026-07-02 09:43:36,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.311793] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.2799999999999727 wallSteer=2.3999999999999986 (+19.5 ms)
2026-07-02 09:43:36,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.337052] moveTile applied motor speed left=100 right=96 (+25.3 ms)
2026-07-02 09:43:36,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.340757] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:43:36,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.341339] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:36,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.347023] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:36,680 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.48 deg, practicalMoveTime: 0.8308127169020135 sec
2026-07-02 09:43:36,681 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.2 ms
2026-07-02 09:43:36,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.349046] moveTile loop end practicalMoveTime=0.831 (+2.0 ms)
2026-07-02 09:43:36,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.349415] moveTile loop start (+0.4 ms)
2026-07-02 09:43:36,691 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65c10>
2026-07-02 09:43:36,698 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:36,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.372297] moveTile calculated motor speeds left=100 right=98 gyroSteer=-1.0399999999999636 wallSteer=2.3999999999999986 (+22.9 ms)
2026-07-02 09:43:36,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.391654] moveTile applied motor speed left=100 right=98 (+19.4 ms)
2026-07-02 09:43:36,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.395438] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:43:36,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.396089] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:36,734 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.401814] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:36,735 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.11092456703964852 CM
2026-07-02 09:43:36,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.427120] moveTile finished by time control (+25.3 ms)
2026-07-02 09:43:36,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.427800] moveTile start final forward adjustment (+26.0 ms)
2026-07-02 09:43:36,795 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.463045] moveTile finished final forward adjustment (+35.2 ms)
2026-07-02 09:43:36,796 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.11092456703964852 cm, past distances: [(0.14908833187948314, False), (0.3880868877805741, False), (0, False), (0, False)]
2026-07-02 09:43:36,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.464891] moveTile updated moved vertical distance -0.111 (+1.8 ms)
2026-07-02 09:43:36,958 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 207.1737062414635 cm
2026-07-02 09:43:36,959 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 16.17779922491797 cm
2026-07-02 09:43:36,961 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 38.00984746046596 cm
2026-07-02 09:43:36,965 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:36,966 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.787536719302473 cm
2026-07-02 09:43:36,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [50.635161] moveTile updated map and detected walls (+170.3 ms)
2026-07-02 09:43:36,971 - mazeUtils.mazeMap - [mazeMap.py:445] - DEBUG - Silver tile detected, saving cache
2026-07-02 09:43:37,627 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: V
2026-07-02 09:43:37,633 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (20, 23, 0), Tile type: V, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:43:37,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.301363] moveTile finished (+836.5 ms)
2026-07-02 09:43:37,674 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:43:37,699 - __main__ - [main.py:110] - INFO - Current position: (20, 23, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=18..23
+   +
  B  
+   +
| E |
+   +
| E  
+   +
| E |
+   +
| E |
+   +
| @ |
+   +
2026-07-02 09:43:37,707 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.SOUTH. Prioritizing this tile.
2026-07-02 09:43:37,709 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:37,711 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [51.379205] moveTile start direction=absDirection.SOUTH position=(20, 23, 0) front=absDirection.SOUTH
2026-07-02 09:43:37,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.385201] moveTile after initial toggle check (+6.0 ms)
2026-07-02 09:43:37,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.389555] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+4.4 ms)
2026-07-02 09:43:37,722 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (20, 23, 0) facing absDirection.SOUTH
2026-07-02 09:43:37,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.390554] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:43:37,751 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 179.47000000000003 target: 180
2026-07-02 09:43:37,773 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 179.47000000000003, diff: 0.5299999999999727
2026-07-02 09:43:37,820 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 179.52 deg
2026-07-02 09:43:37,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.489036] moveTile finished heading change (+98.5 ms)
2026-07-02 09:43:37,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.489493] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:37,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.489901] moveTile updated front direction (+0.4 ms)
2026-07-02 09:43:37,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.508237] moveTile stopped motors before alignment (+18.3 ms)
2026-07-02 09:43:37,997 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 206.26858256205654 cm
2026-07-02 09:43:37,998 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 16.097548273429528 cm
2026-07-02 09:43:37,999 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 37.77564407252209 cm
2026-07-02 09:43:38,003 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.839495319640635 cm
2026-07-02 09:43:38,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.671367] moveTile ready for forward move (+163.1 ms)
2026-07-02 09:43:38,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.703420] moveTile initialized movement targetSteps=1 (+32.1 ms)
2026-07-02 09:43:38,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.704967] moveTile loop start (+1.5 ms)
2026-07-02 09:43:38,045 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f1ab710>
2026-07-02 09:43:38,050 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=254.9, V=254.7
2026-07-02 09:43:38,056 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.723503] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.400000000000091 wallSteer=-3.1999999999999993 (+18.5 ms)
2026-07-02 09:43:38,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.742799] moveTile applied motor speed left=99 right=100 (+19.3 ms)
2026-07-02 09:43:38,079 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.746732] moveTile tile color check tempTileColor=V (+3.9 ms)
2026-07-02 09:43:38,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.747508] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:38,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.754009] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:43:38,088 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.052143554224364855 sec
2026-07-02 09:43:38,089 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:43:38,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.756935] moveTile loop end practicalMoveTime=0.052 (+2.9 ms)
2026-07-02 09:43:38,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.757318] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,097 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:38,104 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.8
2026-07-02 09:43:38,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.778461] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.400000000000091 wallSteer=-3.1999999999999993 (+21.1 ms)
2026-07-02 09:43:38,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.805343] moveTile applied motor speed left=98 right=100 (+26.9 ms)
2026-07-02 09:43:38,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.809789] moveTile tile color check tempTileColor=V (+4.4 ms)
2026-07-02 09:43:38,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.810463] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:38,148 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.815934] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:38,149 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.46000000000004 deg, practicalMoveTime: 0.1129822056035826 sec
2026-07-02 09:43:38,150 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.7 ms
2026-07-02 09:43:38,151 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.818618] moveTile loop end practicalMoveTime=0.113 (+2.7 ms)
2026-07-02 09:43:38,151 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.819019] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,157 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c194110>
2026-07-02 09:43:38,164 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.838370] moveTile calculated motor speeds left=100 right=97 gyroSteer=6.039999999999964 wallSteer=-3.1999999999999993 (+19.4 ms)
2026-07-02 09:43:38,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.858692] moveTile applied motor speed left=100 right=97 (+20.3 ms)
2026-07-02 09:43:38,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.862340] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:38,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.862839] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:38,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.872689] moveTile ramp check isBigRamp=False (+9.9 ms)
2026-07-02 09:43:38,206 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.41 deg, practicalMoveTime: 0.16847237983758917 sec
2026-07-02 09:43:38,206 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:43:38,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.874695] moveTile loop end practicalMoveTime=0.168 (+2.0 ms)
2026-07-02 09:43:38,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.875055] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,220 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705310>
2026-07-02 09:43:38,227 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.901254] moveTile calculated motor speeds left=100 right=98 gyroSteer=3.4400000000000546 wallSteer=-2.3999999999999986 (+26.2 ms)
2026-07-02 09:43:38,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.925305] moveTile applied motor speed left=100 right=98 (+24.1 ms)
2026-07-02 09:43:38,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.930444] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:43:38,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.931256] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:38,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.938125] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:43:38,271 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.51000000000005 deg, practicalMoveTime: 0.2332278514815171 sec
2026-07-02 09:43:38,272 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.5 ms
2026-07-02 09:43:38,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.940282] moveTile loop end practicalMoveTime=0.233 (+2.2 ms)
2026-07-02 09:43:38,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.941241] moveTile loop start (+1.0 ms)
2026-07-02 09:43:38,281 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c194110>
2026-07-02 09:43:38,287 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.965674] moveTile calculated motor speeds left=100 right=95 gyroSteer=5.720000000000027 wallSteer=-1.6000000000000014 (+24.4 ms)
2026-07-02 09:43:38,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.993093] moveTile applied motor speed left=100 right=95 (+27.4 ms)
2026-07-02 09:43:38,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.997644] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:38,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [51.998286] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:38,336 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.003763] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:38,338 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.29830658601713167 sec
2026-07-02 09:43:38,339 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.4 ms
2026-07-02 09:43:38,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.007278] moveTile loop end practicalMoveTime=0.298 (+3.5 ms)
2026-07-02 09:43:38,340 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.007692] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,346 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f6ca10>
2026-07-02 09:43:38,353 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.029785] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.9200000000000728 wallSteer=-5.199999999999999 (+22.1 ms)
2026-07-02 09:43:38,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.049306] moveTile applied motor speed left=96 right=100 (+19.5 ms)
2026-07-02 09:43:38,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.053741] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:43:38,387 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.054426] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:38,393 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.060770] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:43:38,394 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.38 deg, practicalMoveTime: 0.35332589959672395 sec
2026-07-02 09:43:38,395 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:43:38,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.063051] moveTile loop end practicalMoveTime=0.353 (+2.3 ms)
2026-07-02 09:43:38,396 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.063536] moveTile loop start (+0.5 ms)
2026-07-02 09:43:38,404 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f6ca10>
2026-07-02 09:43:38,410 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.084718] moveTile calculated motor speeds left=100 right=99 gyroSteer=5.240000000000009 wallSteer=-5.199999999999999 (+21.2 ms)
2026-07-02 09:43:38,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.110110] moveTile applied motor speed left=100 right=99 (+25.4 ms)
2026-07-02 09:43:38,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.114632] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:38,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.115443] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:38,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.124748] moveTile ramp check isBigRamp=False (+9.3 ms)
2026-07-02 09:43:38,459 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.90000000000003 deg, practicalMoveTime: 0.41721745474388644 sec
2026-07-02 09:43:38,459 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.7 ms
2026-07-02 09:43:38,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.127849] moveTile loop end practicalMoveTime=0.417 (+3.1 ms)
2026-07-02 09:43:38,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.128791] moveTile loop start (+0.9 ms)
2026-07-02 09:43:38,468 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:38,475 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:43:38,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.148849] moveTile calculated motor speeds left=96 right=100 gyroSteer=2.1200000000000045 wallSteer=-5.199999999999999 (+20.1 ms)
2026-07-02 09:43:38,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.168740] moveTile applied motor speed left=96 right=100 (+19.9 ms)
2026-07-02 09:43:38,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.172440] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:38,506 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.173664] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:43:38,511 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.178395] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:38,511 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.17 deg, practicalMoveTime: 0.4691505389470653 sec
2026-07-02 09:43:38,512 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:43:38,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.180547] moveTile loop end practicalMoveTime=0.469 (+2.2 ms)
2026-07-02 09:43:38,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.180942] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,519 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f6ca10>
2026-07-02 09:43:38,525 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.200446] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.9600000000000364 wallSteer=-5.199999999999999 (+19.5 ms)
2026-07-02 09:43:38,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.226053] moveTile applied motor speed left=97 right=100 (+25.6 ms)
2026-07-02 09:43:38,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.230387] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:43:38,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.231181] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:38,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.235977] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:38,569 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.54 deg, practicalMoveTime: 0.5260472991018601 sec
2026-07-02 09:43:38,570 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:43:38,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.237835] moveTile loop end practicalMoveTime=0.526 (+1.9 ms)
2026-07-02 09:43:38,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.238193] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,580 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ebd3e90>
2026-07-02 09:43:38,587 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:38,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.260379] moveTile calculated motor speeds left=91 right=100 gyroSteer=-3.159999999999968 wallSteer=-5.199999999999999 (+22.2 ms)
2026-07-02 09:43:38,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.280576] moveTile applied motor speed left=91 right=100 (+20.2 ms)
2026-07-02 09:43:38,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.284334] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:38,617 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.285046] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:38,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.290157] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:38,623 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.48 deg, practicalMoveTime: 0.5797278970864395 sec
2026-07-02 09:43:38,624 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:43:38,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.292394] moveTile loop end practicalMoveTime=0.580 (+2.2 ms)
2026-07-02 09:43:38,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.292792] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,631 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f1be910>
2026-07-02 09:43:38,637 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:43:38,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.312145] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.160000000000082 wallSteer=-4.0 (+19.4 ms)
2026-07-02 09:43:38,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.332657] moveTile applied motor speed left=99 right=100 (+20.5 ms)
2026-07-02 09:43:38,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.336379] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:38,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.336968] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:38,675 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.342707] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:38,676 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.21000000000004 deg, practicalMoveTime: 0.6315711418330081 sec
2026-07-02 09:43:38,677 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:43:38,677 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.344827] moveTile loop end practicalMoveTime=0.632 (+2.1 ms)
2026-07-02 09:43:38,677 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.345217] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,687 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c194110>
2026-07-02 09:43:38,693 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:43:38,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.367680] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.400000000000091 wallSteer=-5.199999999999999 (+22.5 ms)
2026-07-02 09:43:38,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.387434] moveTile applied motor speed left=96 right=100 (+19.8 ms)
2026-07-02 09:43:38,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.391268] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:38,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.391880] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:38,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.397403] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:38,731 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.010000000000047748 deg, practicalMoveTime: 0.6858154208682706 sec
2026-07-02 09:43:38,732 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:43:38,733 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.400740] moveTile loop end practicalMoveTime=0.686 (+3.3 ms)
2026-07-02 09:43:38,733 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.401180] moveTile loop start (+0.4 ms)
2026-07-02 09:43:38,741 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96f65e90>
2026-07-02 09:43:38,747 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.6, S=254.9, V=251.0
2026-07-02 09:43:38,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.419155] moveTile calculated motor speeds left=98 right=100 gyroSteer=3.2799999999999727 wallSteer=-5.199999999999999 (+18.0 ms)
2026-07-02 09:43:38,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.438782] moveTile applied motor speed left=98 right=100 (+19.6 ms)
2026-07-02 09:43:38,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.445190] moveTile tile color check tempTileColor=E (+6.4 ms)
2026-07-02 09:43:38,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.446101] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:38,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.450799] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:38,784 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.25 deg, practicalMoveTime: 0.7375623624007732 sec
2026-07-02 09:43:38,785 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:43:38,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.452973] moveTile loop end practicalMoveTime=0.738 (+2.2 ms)
2026-07-02 09:43:38,786 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.453427] moveTile loop start (+0.5 ms)
2026-07-02 09:43:38,793 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:38,802 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=103.9, S=255.0, V=249.7
2026-07-02 09:43:38,808 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.475494] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.840000000000032 wallSteer=-3.1999999999999993 (+22.1 ms)
2026-07-02 09:43:38,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.496069] moveTile applied motor speed left=100 right=97 (+20.6 ms)
2026-07-02 09:43:38,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.499732] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:38,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.500399] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:38,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.504926] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:38,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.530908] moveTile finished by front distance control. Tof: 11.8, TSD10 : 3.8 (+26.0 ms)
2026-07-02 09:43:38,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.531605] moveTile start final forward adjustment (+26.7 ms)
2026-07-02 09:43:38,899 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:43:38,913 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:11.8
2026-07-02 09:43:38,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.601170] moveTile finished final forward adjustment (+69.6 ms)
2026-07-02 09:43:38,934 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.3932455138390329 cm, past distances: [(-0.11092456703964852, False), (0.14908833187948314, False), (0.3880868877805741, False), (0, False)]
2026-07-02 09:43:38,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.602760] moveTile updated moved vertical distance -0.393 (+1.6 ms)
2026-07-02 09:43:39,085 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 233.45768804196447 cm
2026-07-02 09:43:39,087 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 194.77031881129295 cm
2026-07-02 09:43:39,089 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 10.42173459223388 cm
2026-07-02 09:43:39,091 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:43:39,091 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 10.42173459223388 cm, TSD10 distance: 0.0 cm
2026-07-02 09:43:39,093 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.69999885559082 cm
2026-07-02 09:43:39,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.761296] moveTile updated map and detected walls (+158.5 ms)
2026-07-02 09:43:39,097 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:39,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.765835] moveTile finished (+163.1 ms)
2026-07-02 09:43:39,141 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, None)
2026-07-02 09:43:39,167 - __main__ - [main.py:110] - INFO - Current position: (20, 24, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..20, y=18..24
+   +
  B  
+   +
| E |
+   +
| E  
+   +
| E |
+   +
| E |
+   +
| V |
+   +
| @  
+---+
2026-07-02 09:43:39,176 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 24, 0)
2026-07-02 09:43:39,178 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:39,179 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [52.846773] moveTile start direction=absDirection.EAST position=(20, 24, 0) front=absDirection.SOUTH
2026-07-02 09:43:39,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.852999] moveTile after initial toggle check (+6.2 ms)
2026-07-02 09:43:39,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.855193] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:43:39,188 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (20, 24, 0) facing absDirection.SOUTH
2026-07-02 09:43:39,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [52.856577] moveTile start heading change target=270 (+1.4 ms)
2026-07-02 09:43:39,217 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 180.53 target: 270
2026-07-02 09:43:40,042 - mazeUtils.moveTile - [moveTile.py:385] - INFO - Find victim on RIGHT side during turn: UnitVStatus.U_VICTIM
2026-07-02 09:43:45,194 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 245.87 target: 245.87
2026-07-02 09:43:45,217 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 245.87, diff: 0.0
2026-07-02 09:43:45,263 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 245.88 deg
2026-07-02 09:43:45,264 - mazeUtils.moveTile - [moveTile.py:397] - INFO - Dropped rescue kit, detected victim info: {<Side.LEFT: 0>: <UnitVStatus.NOTHING: 0>, <Side.RIGHT: 1>: <UnitVStatus.U_VICTIM: 1>}
2026-07-02 09:43:45,534 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 264.14, diff: 5.860000000000014
2026-07-02 09:43:45,592 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.65 deg
2026-07-02 09:43:45,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.261110] moveTile finished heading change (+6404.5 ms)
2026-07-02 09:43:45,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.261642] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:45,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.262288] moveTile updated front direction (+0.6 ms)
2026-07-02 09:43:45,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.284056] moveTile stopped motors before alignment (+21.8 ms)
2026-07-02 09:43:45,771 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 227.0654024161374 cm
2026-07-02 09:43:45,772 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 189.44001969536717 cm
2026-07-02 09:43:45,774 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 17.0 cm
2026-07-02 09:43:45,775 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 21.051630774356948 cm
2026-07-02 09:43:45,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.443642] moveTile start position adjustment using LiDAR for back wall. (+159.6 ms)
2026-07-02 09:43:45,796 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:43:45,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.632892] moveTile finished backward adjustment (+189.2 ms)
2026-07-02 09:43:46,043 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.711278] moveTile ready for forward move (+78.4 ms)
2026-07-02 09:43:46,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.739728] moveTile initialized movement targetSteps=1 (+28.5 ms)
2026-07-02 09:43:46,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.741405] moveTile loop start (+1.7 ms)
2026-07-02 09:43:46,080 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:46,086 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:43:46,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.762618] moveTile calculated motor speeds left=97 right=100 gyroSteer=1.1600000000000819 wallSteer=-4.0 (+21.2 ms)
2026-07-02 09:43:46,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.785281] moveTile applied motor speed left=97 right=100 (+22.7 ms)
2026-07-02 09:43:46,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.790391] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:43:46,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.791236] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:46,129 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.796469] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:43:46,130 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.91 deg, practicalMoveTime: 0.05754240015679077 sec
2026-07-02 09:43:46,130 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:43:46,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.798450] moveTile loop end practicalMoveTime=0.058 (+2.0 ms)
2026-07-02 09:43:46,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.798853] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,137 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:46,143 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:43:46,148 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.816282] moveTile calculated motor speeds left=97 right=100 gyroSteer=1.8800000000001091 wallSteer=-4.0 (+17.4 ms)
2026-07-02 09:43:46,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.842030] moveTile applied motor speed left=97 right=100 (+25.7 ms)
2026-07-02 09:43:46,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.846129] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:46,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.847214] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:46,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.852994] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:46,186 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.74 deg, practicalMoveTime: 0.11344215991597038 sec
2026-07-02 09:43:46,187 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:43:46,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.854903] moveTile loop end practicalMoveTime=0.113 (+1.9 ms)
2026-07-02 09:43:46,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.855269] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,195 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70e10>
2026-07-02 09:43:46,202 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:46,208 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.875638] moveTile calculated motor speeds left=100 right=96 gyroSteer=7.320000000000164 wallSteer=-4.0 (+20.4 ms)
2026-07-02 09:43:46,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.894883] moveTile applied motor speed left=100 right=96 (+19.2 ms)
2026-07-02 09:43:46,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.899043] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:43:46,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.899645] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:46,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.904477] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:46,238 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.59000000000003 deg, practicalMoveTime: 0.16479388930104905 sec
2026-07-02 09:43:46,239 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:43:46,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.906939] moveTile loop end practicalMoveTime=0.165 (+2.5 ms)
2026-07-02 09:43:46,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.907319] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,246 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f1be910>
2026-07-02 09:43:46,253 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:43:46,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.927054] moveTile calculated motor speeds left=100 right=93 gyroSteer=8.88000000000011 wallSteer=-2.0 (+19.7 ms)
2026-07-02 09:43:46,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.948391] moveTile applied motor speed left=100 right=93 (+21.3 ms)
2026-07-02 09:43:46,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.952354] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:46,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.953013] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:46,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.961297] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:43:46,294 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6500000000000341 deg, practicalMoveTime: 0.22049322956073192 sec
2026-07-02 09:43:46,295 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:43:46,295 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.963217] moveTile loop end practicalMoveTime=0.220 (+1.9 ms)
2026-07-02 09:43:46,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.963599] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,302 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71290>
2026-07-02 09:43:46,308 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:43:46,315 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [59.982739] moveTile calculated motor speeds left=100 right=94 gyroSteer=7.599999999999909 wallSteer=-1.6000000000000014 (+19.1 ms)
2026-07-02 09:43:46,336 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.003436] moveTile applied motor speed left=100 right=94 (+20.7 ms)
2026-07-02 09:43:46,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.007056] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:46,340 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.007598] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:46,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.012677] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:46,346 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.27137418607825475 sec
2026-07-02 09:43:46,347 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:43:46,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.015138] moveTile loop end practicalMoveTime=0.271 (+2.5 ms)
2026-07-02 09:43:46,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.015551] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,359 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71250>
2026-07-02 09:43:46,367 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:43:46,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.040479] moveTile calculated motor speeds left=100 right=89 gyroSteer=11.800000000000182 wallSteer=-1.1999999999999993 (+24.9 ms)
2026-07-02 09:43:46,394 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.061772] moveTile applied motor speed left=100 right=89 (+21.3 ms)
2026-07-02 09:43:46,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.065813] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:46,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.066490] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:46,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.071941] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:46,405 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.20000000000004547 deg, practicalMoveTime: 0.329635940882014 sec
2026-07-02 09:43:46,406 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.9 ms
2026-07-02 09:43:46,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.073941] moveTile loop end practicalMoveTime=0.330 (+2.0 ms)
2026-07-02 09:43:46,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.074311] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,414 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f1be910>
2026-07-02 09:43:46,421 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:43:46,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.094573] moveTile calculated motor speeds left=100 right=95 gyroSteer=5.079999999999927 wallSteer=-0.8000000000000007 (+20.3 ms)
2026-07-02 09:43:46,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.114187] moveTile applied motor speed left=100 right=95 (+19.6 ms)
2026-07-02 09:43:46,450 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.117883] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:46,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.118434] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:46,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.122790] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:43:46,456 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.38001673568802463 sec
2026-07-02 09:43:46,457 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:43:46,458 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.125828] moveTile loop end practicalMoveTime=0.380 (+3.0 ms)
2026-07-02 09:43:46,458 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.126379] moveTile loop start (+0.6 ms)
2026-07-02 09:43:46,467 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70e10>
2026-07-02 09:43:46,473 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:43:46,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.145587] moveTile calculated motor speeds left=100 right=90 gyroSteer=3.2799999999999727 wallSteer=6.0 (+19.2 ms)
2026-07-02 09:43:46,498 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.165770] moveTile applied motor speed left=100 right=90 (+20.2 ms)
2026-07-02 09:43:46,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.169410] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:46,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.169909] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:46,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.176509] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:43:46,510 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.6 deg, practicalMoveTime: 0.4324754124913751 sec
2026-07-02 09:43:46,511 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:43:46,511 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.179347] moveTile loop end practicalMoveTime=0.432 (+2.8 ms)
2026-07-02 09:43:46,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.179763] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,520 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71090>
2026-07-02 09:43:46,526 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:43:46,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.202753] moveTile calculated motor speeds left=100 right=97 gyroSteer=-2.6799999999998363 wallSteer=4.800000000000001 (+23.0 ms)
2026-07-02 09:43:46,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.228103] moveTile applied motor speed left=100 right=97 (+25.4 ms)
2026-07-02 09:43:46,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.232460] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:43:46,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.233020] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:46,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.237763] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:46,571 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.25 deg, practicalMoveTime: 0.49285737353106124 sec
2026-07-02 09:43:46,572 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.4 ms
2026-07-02 09:43:46,573 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.240809] moveTile loop end practicalMoveTime=0.493 (+3.0 ms)
2026-07-02 09:43:46,573 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.241178] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,579 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:46,585 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:43:46,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.260178] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.6800000000000637 wallSteer=-2.8000000000000007 (+19.0 ms)
2026-07-02 09:43:46,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.283505] moveTile applied motor speed left=98 right=100 (+23.3 ms)
2026-07-02 09:43:46,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.288082] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:46,621 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.288953] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:46,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.295154] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:46,628 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.04 deg, practicalMoveTime: 0.5487787070233745 sec
2026-07-02 09:43:46,630 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.1 ms
2026-07-02 09:43:46,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.298215] moveTile loop end practicalMoveTime=0.549 (+3.1 ms)
2026-07-02 09:43:46,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.299044] moveTile loop start (+0.8 ms)
2026-07-02 09:43:46,638 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:46,643 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:43:46,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.316320] moveTile calculated motor speeds left=95 right=100 gyroSteer=-2.9600000000000364 wallSteer=-1.1999999999999993 (+17.3 ms)
2026-07-02 09:43:46,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.336665] moveTile applied motor speed left=95 right=100 (+20.3 ms)
2026-07-02 09:43:46,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.340592] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:46,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.341246] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:46,678 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.346356] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:46,679 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.5986866735897715 sec
2026-07-02 09:43:46,680 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.9 ms
2026-07-02 09:43:46,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.348811] moveTile loop end practicalMoveTime=0.599 (+2.5 ms)
2026-07-02 09:43:46,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.349226] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,689 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:46,695 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:43:46,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.375700] moveTile calculated motor speeds left=97 right=100 gyroSteer=-1.1199999999998909 wallSteer=-1.1999999999999993 (+26.5 ms)
2026-07-02 09:43:46,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.396127] moveTile applied motor speed left=97 right=100 (+20.4 ms)
2026-07-02 09:43:46,734 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.401619] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:43:46,734 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.402273] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:46,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.407848] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:46,741 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.16 deg, practicalMoveTime: 0.6594473168848738 sec
2026-07-02 09:43:46,742 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.1 ms
2026-07-02 09:43:46,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.409887] moveTile loop end practicalMoveTime=0.659 (+2.0 ms)
2026-07-02 09:43:46,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.410253] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,750 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:46,757 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:43:46,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.429983] moveTile calculated motor speeds left=95 right=100 gyroSteer=-3.2799999999999727 wallSteer=-1.1999999999999993 (+19.7 ms)
2026-07-02 09:43:46,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.452709] moveTile applied motor speed left=95 right=100 (+22.7 ms)
2026-07-02 09:43:46,789 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.456403] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:46,789 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.457162] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:46,794 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.462225] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:46,795 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.72 deg, practicalMoveTime: 0.7131342482819414 sec
2026-07-02 09:43:46,796 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:43:46,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.464293] moveTile loop end practicalMoveTime=0.713 (+2.1 ms)
2026-07-02 09:43:46,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.464666] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,803 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f1be910>
2026-07-02 09:43:46,809 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:43:46,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.481971] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.3600000000001273 wallSteer=-3.1999999999999993 (+17.3 ms)
2026-07-02 09:43:46,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.501584] moveTile applied motor speed left=99 right=100 (+19.6 ms)
2026-07-02 09:43:46,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.505518] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:46,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.506149] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:46,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.510473] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:46,844 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.17 deg, practicalMoveTime: 0.7610976028680911 sec
2026-07-02 09:43:46,845 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.9 ms
2026-07-02 09:43:46,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.513156] moveTile loop end practicalMoveTime=0.761 (+2.7 ms)
2026-07-02 09:43:46,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.513696] moveTile loop start (+0.5 ms)
2026-07-02 09:43:46,854 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:46,860 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:43:46,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.535826] moveTile calculated motor speeds left=100 right=98 gyroSteer=4.400000000000091 wallSteer=-3.1999999999999993 (+22.1 ms)
2026-07-02 09:43:46,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.556922] moveTile applied motor speed left=100 right=98 (+21.1 ms)
2026-07-02 09:43:46,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.561813] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:43:46,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.562734] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:46,900 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.567579] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:46,901 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.8169950944379978 sec
2026-07-02 09:43:46,901 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:43:46,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.569656] moveTile loop end practicalMoveTime=0.817 (+2.1 ms)
2026-07-02 09:43:46,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.570072] moveTile loop start (+0.4 ms)
2026-07-02 09:43:46,909 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:46,915 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:43:46,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.589619] moveTile calculated motor speeds left=100 right=98 gyroSteer=2.880000000000109 wallSteer=-1.1999999999999993 (+19.5 ms)
2026-07-02 09:43:46,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.611684] moveTile applied motor speed left=100 right=98 (+22.1 ms)
2026-07-02 09:43:46,948 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.615538] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:46,948 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.616123] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:46,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.621858] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:46,955 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.2202041996173458 CM
2026-07-02 09:43:46,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.648442] moveTile finished by time control (+26.6 ms)
2026-07-02 09:43:46,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.649131] moveTile start final forward adjustment (+27.3 ms)
2026-07-02 09:43:47,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.677303] moveTile finished final forward adjustment (+28.2 ms)
2026-07-02 09:43:47,010 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.2202041996173458 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:43:47,011 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.678863] moveTile updated moved vertical distance -0.220 (+1.6 ms)
2026-07-02 09:43:47,180 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 104.79373143005131 cm
2026-07-02 09:43:47,181 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 160.6078120918317 cm
2026-07-02 09:43:47,182 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:47,185 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 17.0 cm
2026-07-02 09:43:47,186 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 50.97104276322716 cm
2026-07-02 09:43:47,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.854481] moveTile updated map and detected walls (+175.6 ms)
2026-07-02 09:43:47,190 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:47,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.859183] moveTile finished (+180.3 ms)
2026-07-02 09:43:47,233 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:43:47,264 - __main__ - [main.py:110] - INFO - Current position: (21, 24, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..21, y=18..24
+   +   +
  B   U  
+   +   +
| E | U  
+   +   +
| E   U  
+   +   +
| E | U  
+   +   +
| E | U  
+   +   +
| V | U  
+   +   +
| E   @  
+---+---+
2026-07-02 09:43:47,272 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (22, 24, 0)
2026-07-02 09:43:47,275 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:47,276 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [60.944143] moveTile start direction=absDirection.EAST position=(21, 24, 0) front=absDirection.EAST
2026-07-02 09:43:47,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.948569] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:43:47,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.952253] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+3.7 ms)
2026-07-02 09:43:47,285 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (21, 24, 0) facing absDirection.EAST
2026-07-02 09:43:47,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [60.953314] moveTile start heading change target=270 (+1.1 ms)
2026-07-02 09:43:47,317 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 271.44 target: 270
2026-07-02 09:43:47,336 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 271.44, diff: 1.4399999999999977
2026-07-02 09:43:47,383 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 271.39 deg
2026-07-02 09:43:47,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.051259] moveTile finished heading change (+97.9 ms)
2026-07-02 09:43:47,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.051849] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:43:47,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.052833] moveTile updated front direction (+1.0 ms)
2026-07-02 09:43:47,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.072356] moveTile stopped motors before alignment (+19.5 ms)
2026-07-02 09:43:47,547 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 104.21733834981264 cm
2026-07-02 09:43:47,548 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 161.00683162328787 cm
2026-07-02 09:43:47,550 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.897425666731387 cm
2026-07-02 09:43:47,551 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 50.32473776048922 cm
2026-07-02 09:43:47,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.219572] moveTile start position adjustment using LiDAR for back wall. (+147.2 ms)
2026-07-02 09:43:47,572 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:43:47,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.421462] moveTile finished backward adjustment (+201.9 ms)
2026-07-02 09:43:47,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.500118] moveTile ready for forward move (+78.7 ms)
2026-07-02 09:43:47,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.533115] moveTile initialized movement targetSteps=1 (+33.0 ms)
2026-07-02 09:43:47,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.534602] moveTile loop start (+1.5 ms)
2026-07-02 09:43:47,874 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:43:47,881 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.6, S=255.0, V=255.0
2026-07-02 09:43:47,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.554900] moveTile calculated motor speeds left=100 right=97 gyroSteer=4.2000000000000455 wallSteer=-1.6000000000000014 (+20.3 ms)
2026-07-02 09:43:47,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.575840] moveTile applied motor speed left=100 right=97 (+20.9 ms)
2026-07-02 09:43:47,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.581974] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:43:47,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.582652] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:47,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.587667] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:43:47,921 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.27000000000004 deg, practicalMoveTime: 0.0554039805976804 sec
2026-07-02 09:43:47,921 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:43:47,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.589706] moveTile loop end practicalMoveTime=0.055 (+2.0 ms)
2026-07-02 09:43:47,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.590087] moveTile loop start (+0.4 ms)
2026-07-02 09:43:47,929 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c0e9850>
2026-07-02 09:43:47,936 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.7, S=255.0, V=255.0
2026-07-02 09:43:47,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.610348] moveTile calculated motor speeds left=100 right=99 gyroSteer=2.240000000000009 wallSteer=-1.6000000000000014 (+20.3 ms)
2026-07-02 09:43:47,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.629140] moveTile applied motor speed left=100 right=99 (+18.8 ms)
2026-07-02 09:43:47,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.632934] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:47,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.633546] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:47,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.638082] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:43:47,971 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.14000000000004 deg, practicalMoveTime: 0.10535562853068929 sec
2026-07-02 09:43:47,973 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:43:47,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.641547] moveTile loop end practicalMoveTime=0.105 (+3.5 ms)
2026-07-02 09:43:47,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.642014] moveTile loop start (+0.5 ms)
2026-07-02 09:43:47,982 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa711d0>
2026-07-02 09:43:47,989 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.6, S=255.0, V=255.0
2026-07-02 09:43:47,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.666260] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.6800000000000637 wallSteer=-3.1999999999999993 (+24.2 ms)
2026-07-02 09:43:48,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.694286] moveTile applied motor speed left=98 right=100 (+28.0 ms)
2026-07-02 09:43:48,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.699103] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:48,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.699775] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:48,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.704114] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:48,037 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.79 deg, practicalMoveTime: 0.16955106869258713 sec
2026-07-02 09:43:48,038 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.4 ms
2026-07-02 09:43:48,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.705940] moveTile loop end practicalMoveTime=0.170 (+1.8 ms)
2026-07-02 09:43:48,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.706349] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,045 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c0e9850>
2026-07-02 09:43:48,052 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:43:48,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.727258] moveTile calculated motor speeds left=100 right=97 gyroSteer=4.960000000000036 wallSteer=-2.0 (+20.9 ms)
2026-07-02 09:43:48,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.748986] moveTile applied motor speed left=100 right=97 (+21.7 ms)
2026-07-02 09:43:48,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.753915] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:43:48,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.754594] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:48,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.758921] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:48,092 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.27000000000004 deg, practicalMoveTime: 0.2238278977400703 sec
2026-07-02 09:43:48,093 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:43:48,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.761632] moveTile loop end practicalMoveTime=0.224 (+2.7 ms)
2026-07-02 09:43:48,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.762225] moveTile loop start (+0.6 ms)
2026-07-02 09:43:48,100 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:48,108 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:43:48,114 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.781625] moveTile calculated motor speeds left=95 right=100 gyroSteer=-0.40000000000009095 wallSteer=-4.0 (+19.4 ms)
2026-07-02 09:43:48,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.801347] moveTile applied motor speed left=95 right=100 (+19.7 ms)
2026-07-02 09:43:48,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.804992] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:48,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.805598] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:48,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.817298] moveTile ramp check isBigRamp=False (+11.7 ms)
2026-07-02 09:43:48,150 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.32000000000005 deg, practicalMoveTime: 0.2814601604166805 sec
2026-07-02 09:43:48,151 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.6 ms
2026-07-02 09:43:48,152 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.819436] moveTile loop end practicalMoveTime=0.281 (+2.1 ms)
2026-07-02 09:43:48,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.820433] moveTile loop start (+1.0 ms)
2026-07-02 09:43:48,157 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d10>
2026-07-02 09:43:48,164 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:43:48,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.838285] moveTile calculated motor speeds left=96 right=100 gyroSteer=0.11999999999989086 wallSteer=-4.0 (+17.9 ms)
2026-07-02 09:43:48,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.858683] moveTile applied motor speed left=96 right=100 (+20.4 ms)
2026-07-02 09:43:48,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.863189] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:48,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.864327] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:48,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.870484] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:48,204 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.3339598440681969 sec
2026-07-02 09:43:48,204 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:43:48,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.872600] moveTile loop end practicalMoveTime=0.334 (+2.1 ms)
2026-07-02 09:43:48,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.872970] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,214 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:43:48,220 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=254.9, V=255.0
2026-07-02 09:43:48,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.895992] moveTile calculated motor speeds left=93 right=100 gyroSteer=-2.3600000000001273 wallSteer=-4.399999999999999 (+23.0 ms)
2026-07-02 09:43:48,248 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.916120] moveTile applied motor speed left=93 right=100 (+20.1 ms)
2026-07-02 09:43:48,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.921051] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:43:48,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.921739] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:48,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.926105] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:43:48,259 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.38891356124074206 sec
2026-07-02 09:43:48,260 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:43:48,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.928789] moveTile loop end practicalMoveTime=0.389 (+2.7 ms)
2026-07-02 09:43:48,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.929361] moveTile loop start (+0.6 ms)
2026-07-02 09:43:48,267 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:48,273 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=254.9, V=255.0
2026-07-02 09:43:48,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.945714] moveTile calculated motor speeds left=100 right=96 gyroSteer=-1.199999999999818 wallSteer=4.800000000000001 (+16.4 ms)
2026-07-02 09:43:48,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.968668] moveTile applied motor speed left=100 right=96 (+23.0 ms)
2026-07-02 09:43:48,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.973705] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:43:48,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.974337] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:48,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.979235] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:43:48,313 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.83000000000004 deg, practicalMoveTime: 0.4415904598185889 sec
2026-07-02 09:43:48,314 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:43:48,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.981991] moveTile loop end practicalMoveTime=0.442 (+2.8 ms)
2026-07-02 09:43:48,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [61.982361] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,322 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:43:48,329 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=254.6, V=254.9
2026-07-02 09:43:48,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.002512] moveTile calculated motor speeds left=100 right=93 gyroSteer=3.8400000000001455 wallSteer=2.3999999999999986 (+20.2 ms)
2026-07-02 09:43:48,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.022572] moveTile applied motor speed left=100 right=93 (+20.1 ms)
2026-07-02 09:43:48,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.029877] moveTile tile color check tempTileColor=E (+7.3 ms)
2026-07-02 09:43:48,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.030498] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:48,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.038446] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:43:48,372 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.37 deg, practicalMoveTime: 0.4997803871887377 sec
2026-07-02 09:43:48,373 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:43:48,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.040974] moveTile loop end practicalMoveTime=0.500 (+2.5 ms)
2026-07-02 09:43:48,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.041370] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,383 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:43:48,389 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=253.4, V=254.9
2026-07-02 09:43:48,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.063174] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.240000000000009 wallSteer=2.0 (+21.8 ms)
2026-07-02 09:43:48,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.082959] moveTile applied motor speed left=100 right=96 (+19.8 ms)
2026-07-02 09:43:48,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.088611] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:43:48,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.089329] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:48,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.099579] moveTile ramp check isBigRamp=False (+10.2 ms)
2026-07-02 09:43:48,433 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.53000000000003 deg, practicalMoveTime: 0.5598776086328896 sec
2026-07-02 09:43:48,433 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:43:48,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.101795] moveTile loop end practicalMoveTime=0.560 (+2.2 ms)
2026-07-02 09:43:48,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.102206] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,445 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:48,452 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=250.7, V=254.9
2026-07-02 09:43:48,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.124973] moveTile calculated motor speeds left=100 right=92 gyroSteer=4.759999999999991 wallSteer=2.8000000000000007 (+22.8 ms)
2026-07-02 09:43:48,476 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.144287] moveTile applied motor speed left=100 right=92 (+19.3 ms)
2026-07-02 09:43:48,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.147908] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:48,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.149789] moveTile obstacle check escapeFlag=False (+1.9 ms)
2026-07-02 09:43:48,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.156634] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:43:48,490 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.92 deg, practicalMoveTime: 0.6161348017195025 sec
2026-07-02 09:43:48,492 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:43:48,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.160569] moveTile loop end practicalMoveTime=0.616 (+3.9 ms)
2026-07-02 09:43:48,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.161015] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,500 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c0e9850>
2026-07-02 09:43:48,506 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=250.1, V=254.9
2026-07-02 09:43:48,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.182514] moveTile calculated motor speeds left=100 right=94 gyroSteer=1.8800000000001091 wallSteer=4.0 (+21.5 ms)
2026-07-02 09:43:48,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.202788] moveTile applied motor speed left=100 right=94 (+20.3 ms)
2026-07-02 09:43:48,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.207559] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:48,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.208952] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:43:48,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.216893] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:43:48,551 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.20000000000005 deg, practicalMoveTime: 0.6754623425772952 sec
2026-07-02 09:43:48,552 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:43:48,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.220810] moveTile loop end practicalMoveTime=0.675 (+3.9 ms)
2026-07-02 09:43:48,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.221247] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,566 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:43:48,572 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=250.5, V=254.9
2026-07-02 09:43:48,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.246886] moveTile calculated motor speeds left=100 right=92 gyroSteer=3.6800000000000637 wallSteer=3.6000000000000014 (+25.6 ms)
2026-07-02 09:43:48,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.267772] moveTile applied motor speed left=100 right=92 (+20.9 ms)
2026-07-02 09:43:48,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.271448] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:48,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.271971] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:48,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.277649] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:48,611 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.98 deg, practicalMoveTime: 0.7339383102366592 sec
2026-07-02 09:43:48,611 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:43:48,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.279561] moveTile loop end practicalMoveTime=0.734 (+1.9 ms)
2026-07-02 09:43:48,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.279928] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,619 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:48,625 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=251.3, V=254.9
2026-07-02 09:43:48,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.300311] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.5199999999999818 wallSteer=4.399999999999999 (+20.4 ms)
2026-07-02 09:43:48,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.319690] moveTile applied motor speed left=100 right=96 (+19.4 ms)
2026-07-02 09:43:48,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.325451] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:43:48,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.326674] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:43:48,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.331038] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:43:48,664 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.64000000000004 deg, practicalMoveTime: 0.7866263456693893 sec
2026-07-02 09:43:48,665 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:43:48,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.332981] moveTile loop end practicalMoveTime=0.787 (+1.9 ms)
2026-07-02 09:43:48,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.333347] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c0e9850>
2026-07-02 09:43:48,680 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=250.8, V=254.9
2026-07-02 09:43:48,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.354694] moveTile calculated motor speeds left=100 right=95 gyroSteer=0.9600000000000364 wallSteer=3.6000000000000014 (+21.3 ms)
2026-07-02 09:43:48,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.377673] moveTile applied motor speed left=100 right=95 (+23.0 ms)
2026-07-02 09:43:48,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.381421] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:48,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.382027] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:48,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.386649] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:43:48,721 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.96000000000004 deg, practicalMoveTime: 0.842676632608416 sec
2026-07-02 09:43:48,722 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:43:48,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.390238] moveTile loop end practicalMoveTime=0.843 (+3.6 ms)
2026-07-02 09:43:48,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.390611] moveTile loop start (+0.4 ms)
2026-07-02 09:43:48,727 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:48,734 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=251.8, V=254.9
2026-07-02 09:43:48,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.407726] moveTile calculated motor speeds left=99 right=100 gyroSteer=-3.1599999999998545 wallSteer=2.8000000000000007 (+17.1 ms)
2026-07-02 09:43:48,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.434133] moveTile applied motor speed left=99 right=100 (+26.4 ms)
2026-07-02 09:43:48,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.438122] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:48,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.438707] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:48,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.442996] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:48,776 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.2807297176651952 CM
2026-07-02 09:43:48,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.466971] moveTile finished by time control (+24.0 ms)
2026-07-02 09:43:48,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.467698] moveTile start final forward adjustment (+24.7 ms)
2026-07-02 09:43:48,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.496595] moveTile finished final forward adjustment (+28.9 ms)
2026-07-02 09:43:48,830 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.2807297176651952 cm, past distances: [(-0.2202041996173458, False), (0, False), (0, False), (0, False)]
2026-07-02 09:43:48,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.498255] moveTile updated moved vertical distance -0.281 (+1.7 ms)
2026-07-02 09:43:49,002 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 15.259102944581066 cm
2026-07-02 09:43:49,004 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 132.11867525772817 cm
2026-07-02 09:43:49,005 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:49,006 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.497486970080455 cm
2026-07-02 09:43:49,007 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 79.41949609101563 cm
2026-07-02 09:43:49,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.675910] moveTile updated map and detected walls (+177.7 ms)
2026-07-02 09:43:49,011 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:49,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.680546] moveTile finished (+182.3 ms)
2026-07-02 09:43:49,053 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 2)
2026-07-02 09:43:49,082 - __main__ - [main.py:110] - INFO - Current position: (22, 24, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..22, y=18..24
+   +   +   +
  B   U   U  
+   +   +   +
| E | U   U  
+   +   +   +
| E   U   U  
+   +   +   +
| E | U   U  
+   +   +   +
| E | U   U  
+   +   +   +
| V | U   U  
+   +   +---+
| E   E   @  
+---+---+---+
2026-07-02 09:43:49,092 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (23, 24, 0)
2026-07-02 09:43:49,094 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:49,095 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [62.762795] moveTile start direction=absDirection.EAST position=(22, 24, 0) front=absDirection.EAST
2026-07-02 09:43:49,100 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.768328] moveTile after initial toggle check (+5.5 ms)
2026-07-02 09:43:49,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.770503] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:43:49,103 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (22, 24, 0) facing absDirection.EAST
2026-07-02 09:43:49,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.771496] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:43:49,129 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 269.25 target: 270
2026-07-02 09:43:49,148 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 269.25, diff: 0.75
2026-07-02 09:43:49,199 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.39 deg
2026-07-02 09:43:49,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.867844] moveTile finished heading change (+96.3 ms)
2026-07-02 09:43:49,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.868600] Adjustment after ramp completed (+0.8 ms)
2026-07-02 09:43:49,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.869073] moveTile updated front direction (+0.5 ms)
2026-07-02 09:43:49,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [62.889767] moveTile stopped motors before alignment (+20.7 ms)
2026-07-02 09:43:49,370 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 15.190740380071583 cm
2026-07-02 09:43:49,372 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 131.77820190635111 cm
2026-07-02 09:43:49,375 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.58988620356761 cm
2026-07-02 09:43:49,376 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 78.72631146495483 cm
2026-07-02 09:43:49,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.044765] moveTile ready for forward move (+155.0 ms)
2026-07-02 09:43:49,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.070552] moveTile initialized movement targetSteps=1 (+25.8 ms)
2026-07-02 09:43:49,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.072160] moveTile loop start (+1.6 ms)
2026-07-02 09:43:49,410 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:49,419 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=252.7, V=254.9
2026-07-02 09:43:49,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.091613] moveTile calculated motor speeds left=100 right=96 gyroSteer=0.8800000000001091 wallSteer=2.8000000000000007 (+19.5 ms)
2026-07-02 09:43:49,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.114259] moveTile applied motor speed left=100 right=96 (+22.6 ms)
2026-07-02 09:43:49,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.118867] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:49,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.120049] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:43:49,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.123780] moveTile ramp check isBigRamp=False (+3.7 ms)
2026-07-02 09:43:49,457 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.02000000000004 deg, practicalMoveTime: 0.0540167939568532 sec
2026-07-02 09:43:49,457 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.0 ms
2026-07-02 09:43:49,458 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.126296] moveTile loop end practicalMoveTime=0.054 (+2.5 ms)
2026-07-02 09:43:49,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.127236] moveTile loop start (+0.9 ms)
2026-07-02 09:43:49,464 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705490>
2026-07-02 09:43:49,472 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=252.7, V=254.9
2026-07-02 09:43:49,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.146917] moveTile calculated motor speeds left=100 right=93 gyroSteer=3.3600000000001273 wallSteer=3.6000000000000014 (+19.7 ms)
2026-07-02 09:43:49,499 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.166823] moveTile applied motor speed left=100 right=93 (+19.9 ms)
2026-07-02 09:43:49,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.170505] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:49,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.171118] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:49,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.177287] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:49,510 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.10698275369867744 sec
2026-07-02 09:43:49,511 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:43:49,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.179586] moveTile loop end practicalMoveTime=0.107 (+2.3 ms)
2026-07-02 09:43:49,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.180340] moveTile loop start (+0.8 ms)
2026-07-02 09:43:49,521 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705490>
2026-07-02 09:43:49,528 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=253.2, V=254.9
2026-07-02 09:43:49,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.202357] moveTile calculated motor speeds left=100 right=91 gyroSteer=4.880000000000109 wallSteer=3.6000000000000014 (+22.0 ms)
2026-07-02 09:43:49,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.223403] moveTile applied motor speed left=100 right=91 (+21.0 ms)
2026-07-02 09:43:49,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.228207] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:49,561 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.229332] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:49,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.235349] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:43:49,569 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.71000000000004 deg, practicalMoveTime: 0.1643581830208058 sec
2026-07-02 09:43:49,570 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.1 ms
2026-07-02 09:43:49,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.238124] moveTile loop end practicalMoveTime=0.164 (+2.8 ms)
2026-07-02 09:43:49,571 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.238631] moveTile loop start (+0.5 ms)
2026-07-02 09:43:49,577 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:49,583 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=253.9, V=254.9
2026-07-02 09:43:49,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.257323] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.44000000000005457 wallSteer=3.6000000000000014 (+18.7 ms)
2026-07-02 09:43:49,617 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.285068] moveTile applied motor speed left=100 right=96 (+27.7 ms)
2026-07-02 09:43:49,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.289596] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:49,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.290835] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:43:49,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.296732] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:49,630 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.64000000000004 deg, practicalMoveTime: 0.2247362579246649 sec
2026-07-02 09:43:49,632 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.9 ms
2026-07-02 09:43:49,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.300728] moveTile loop end practicalMoveTime=0.225 (+4.0 ms)
2026-07-02 09:43:49,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.301154] moveTile loop start (+0.4 ms)
2026-07-02 09:43:49,641 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71210>
2026-07-02 09:43:49,647 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=252.3, V=254.9
2026-07-02 09:43:49,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.326228] moveTile calculated motor speeds left=100 right=90 gyroSteer=5.559999999999945 wallSteer=4.0 (+25.1 ms)
2026-07-02 09:43:49,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.349292] moveTile applied motor speed left=100 right=90 (+23.1 ms)
2026-07-02 09:43:49,686 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.354006] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:43:49,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.354655] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:49,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.360566] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:49,694 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.28655645840195204 sec
2026-07-02 09:43:49,694 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.8 ms
2026-07-02 09:43:49,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.362529] moveTile loop end practicalMoveTime=0.287 (+2.0 ms)
2026-07-02 09:43:49,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.362881] moveTile loop start (+0.4 ms)
2026-07-02 09:43:49,702 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71150>
2026-07-02 09:43:49,709 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=254.0, V=254.9
2026-07-02 09:43:49,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.386165] moveTile calculated motor speeds left=100 right=94 gyroSteer=0.7599999999999909 wallSteer=4.399999999999999 (+23.3 ms)
2026-07-02 09:43:49,738 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.405901] moveTile applied motor speed left=100 right=94 (+19.7 ms)
2026-07-02 09:43:49,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.409777] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:49,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.410518] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:49,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.415584] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:43:49,749 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.90000000000003 deg, practicalMoveTime: 0.3411058309611012 sec
2026-07-02 09:43:49,749 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:43:49,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.417801] moveTile loop end practicalMoveTime=0.341 (+2.2 ms)
2026-07-02 09:43:49,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.418214] moveTile loop start (+0.4 ms)
2026-07-02 09:43:49,755 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70fd0>
2026-07-02 09:43:49,762 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=253.1, V=254.9
2026-07-02 09:43:49,767 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.434636] moveTile calculated motor speeds left=100 right=93 gyroSteer=2.3600000000001273 wallSteer=4.0 (+16.4 ms)
2026-07-02 09:43:49,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.454927] moveTile applied motor speed left=100 right=93 (+20.3 ms)
2026-07-02 09:43:49,791 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.458847] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:49,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.459481] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:49,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.466857] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:43:49,800 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.55 deg, practicalMoveTime: 0.39180969997797455 sec
2026-07-02 09:43:49,801 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.6 ms
2026-07-02 09:43:49,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.469509] moveTile loop end practicalMoveTime=0.392 (+2.7 ms)
2026-07-02 09:43:49,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.469944] moveTile loop start (+0.4 ms)
2026-07-02 09:43:49,807 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705490>
2026-07-02 09:43:49,814 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=252.6, V=254.9
2026-07-02 09:43:49,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.490229] moveTile calculated motor speeds left=100 right=99 gyroSteer=-3.3600000000001273 wallSteer=3.6000000000000014 (+20.3 ms)
2026-07-02 09:43:49,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.512318] moveTile applied motor speed left=100 right=99 (+22.1 ms)
2026-07-02 09:43:49,848 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.516275] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:49,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.516904] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:49,854 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.522343] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:43:49,855 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.63 deg, practicalMoveTime: 0.4461498831308821 sec
2026-07-02 09:43:49,857 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:43:49,857 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.525034] moveTile loop end practicalMoveTime=0.446 (+2.7 ms)
2026-07-02 09:43:49,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.525448] moveTile loop start (+0.4 ms)
2026-07-02 09:43:49,863 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:43:49,871 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=252.1, V=254.9
2026-07-02 09:43:49,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.547762] moveTile calculated motor speeds left=100 right=94 gyroSteer=1.759999999999991 wallSteer=4.0 (+22.3 ms)
2026-07-02 09:43:49,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.569892] moveTile applied motor speed left=100 right=94 (+22.1 ms)
2026-07-02 09:43:49,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.574151] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:43:49,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.575555] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:43:49,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.581416] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:49,914 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.38 deg, practicalMoveTime: 0.5039765926493998 sec
2026-07-02 09:43:49,915 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:43:49,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.583630] moveTile loop end practicalMoveTime=0.504 (+2.2 ms)
2026-07-02 09:43:49,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.584711] moveTile loop start (+1.1 ms)
2026-07-02 09:43:49,922 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705490>
2026-07-02 09:43:49,928 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=254.1, V=254.9
2026-07-02 09:43:49,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.602745] moveTile calculated motor speeds left=100 right=95 gyroSteer=0.8400000000001455 wallSteer=3.1999999999999993 (+18.0 ms)
2026-07-02 09:43:49,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.625511] moveTile applied motor speed left=100 right=95 (+22.8 ms)
2026-07-02 09:43:49,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.629265] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:49,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.630408] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:49,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.635053] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:43:49,968 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.13 deg, practicalMoveTime: 0.5569802301313383 sec
2026-07-02 09:43:49,969 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:43:49,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.637203] moveTile loop end practicalMoveTime=0.557 (+2.2 ms)
2026-07-02 09:43:49,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.637699] moveTile loop start (+0.5 ms)
2026-07-02 09:43:49,980 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c50>
2026-07-02 09:43:49,986 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:43:49,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.658921] moveTile calculated motor speeds left=100 right=95 gyroSteer=0.16000000000008185 wallSteer=4.399999999999999 (+21.2 ms)
2026-07-02 09:43:50,011 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.678935] moveTile applied motor speed left=100 right=95 (+20.0 ms)
2026-07-02 09:43:50,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.687118] moveTile tile color check tempTileColor=E (+8.2 ms)
2026-07-02 09:43:50,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.688085] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:43:50,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.695663] moveTile ramp check isBigRamp=False (+7.6 ms)
2026-07-02 09:43:50,029 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.29000000000002046 deg, practicalMoveTime: 0.6168394544502306 sec
2026-07-02 09:43:50,029 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:43:50,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.697820] moveTile loop end practicalMoveTime=0.617 (+2.2 ms)
2026-07-02 09:43:50,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.698354] moveTile loop start (+0.5 ms)
2026-07-02 09:43:50,035 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:50,042 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:43:50,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.716328] moveTile calculated motor speeds left=100 right=90 gyroSteer=4.680000000000064 wallSteer=4.399999999999999 (+18.0 ms)
2026-07-02 09:43:50,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.737048] moveTile applied motor speed left=100 right=90 (+20.7 ms)
2026-07-02 09:43:50,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.741731] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:43:50,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.742674] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:43:50,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.748920] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:50,082 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37000000000000455 deg, practicalMoveTime: 0.6693982111253713 sec
2026-07-02 09:43:50,083 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:43:50,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.751553] moveTile loop end practicalMoveTime=0.669 (+2.6 ms)
2026-07-02 09:43:50,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.752318] moveTile loop start (+0.8 ms)
2026-07-02 09:43:50,092 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:50,102 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:43:50,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.775632] moveTile calculated motor speeds left=100 right=90 gyroSteer=5.160000000000082 wallSteer=4.399999999999999 (+23.3 ms)
2026-07-02 09:43:50,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.798805] moveTile applied motor speed left=100 right=90 (+23.2 ms)
2026-07-02 09:43:50,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.803707] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:43:50,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.804446] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:50,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.809696] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:43:50,143 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5500000000000114 deg, practicalMoveTime: 0.7290761617567432 sec
2026-07-02 09:43:50,143 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:43:50,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.811665] moveTile loop end practicalMoveTime=0.729 (+2.0 ms)
2026-07-02 09:43:50,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.812079] moveTile loop start (+0.4 ms)
2026-07-02 09:43:50,150 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71010>
2026-07-02 09:43:50,156 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:43:50,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.829223] moveTile calculated motor speeds left=100 right=87 gyroSteer=7.2000000000000455 wallSteer=4.800000000000001 (+17.1 ms)
2026-07-02 09:43:50,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.851296] moveTile applied motor speed left=100 right=87 (+22.1 ms)
2026-07-02 09:43:50,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.855910] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:50,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.857053] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:50,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.861657] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:43:50,195 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.79 deg, practicalMoveTime: 0.7803947009535998 sec
2026-07-02 09:43:50,195 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:43:50,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.863768] moveTile loop end practicalMoveTime=0.780 (+2.1 ms)
2026-07-02 09:43:50,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.864435] moveTile loop start (+0.7 ms)
2026-07-02 09:43:50,204 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71150>
2026-07-02 09:43:50,210 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:43:50,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.885594] moveTile calculated motor speeds left=100 right=92 gyroSteer=2.6800000000000637 wallSteer=5.199999999999999 (+21.2 ms)
2026-07-02 09:43:50,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.904333] moveTile applied motor speed left=100 right=92 (+18.7 ms)
2026-07-02 09:43:50,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.907982] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:50,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.908739] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:50,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.914893] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:50,248 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.8328326011014088 sec
2026-07-02 09:43:50,249 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.0 ms
2026-07-02 09:43:50,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.917079] moveTile loop end practicalMoveTime=0.833 (+2.2 ms)
2026-07-02 09:43:50,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.917651] moveTile loop start (+0.6 ms)
2026-07-02 09:43:50,258 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f50>
2026-07-02 09:43:50,264 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=249.3, V=254.9
2026-07-02 09:43:50,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.938200] moveTile calculated motor speeds left=100 right=91 gyroSteer=3.160000000000082 wallSteer=5.199999999999999 (+20.5 ms)
2026-07-02 09:43:50,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.959245] moveTile applied motor speed left=100 right=91 (+21.0 ms)
2026-07-02 09:43:50,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.963717] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:50,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.964545] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:50,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.970350] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:50,303 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.1532223806702206 CM
2026-07-02 09:43:50,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.992511] moveTile finished by time control (+22.2 ms)
2026-07-02 09:43:50,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [63.993260] moveTile start final forward adjustment (+22.9 ms)
2026-07-02 09:43:50,356 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.023531] moveTile finished final forward adjustment (+30.3 ms)
2026-07-02 09:43:50,357 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.1532223806702206 cm, past distances: [(-0.2807297176651952, False), (-0.2202041996173458, False), (0, False), (0, False)]
2026-07-02 09:43:50,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.025266] moveTile updated moved vertical distance -0.153 (+1.7 ms)
2026-07-02 09:43:50,522 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 14.699999809265137 cm
2026-07-02 09:43:50,524 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 102.0508053859039 cm
2026-07-02 09:43:50,527 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:50,528 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.897425666731387 cm
2026-07-02 09:43:50,529 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 109.53253576285258 cm
2026-07-02 09:43:50,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.197958] moveTile updated map and detected walls (+172.7 ms)
2026-07-02 09:43:50,533 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:50,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.202500] moveTile finished (+177.2 ms)
2026-07-02 09:43:50,576 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 3)
2026-07-02 09:43:50,605 - __main__ - [main.py:110] - INFO - Current position: (23, 24, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..23, y=18..24
+   +   +   +   +
  B   U   U   U  
+   +   +   +   +
| E | U   U   U  
+   +   +   +   +
| E   U   U   U  
+   +   +   +   +
| E | U   U   U  
+   +   +   +   +
| E | U   U   U  
+   +   +   +   +
| V | U   U   U  
+   +   +---+---+
| E   E   E   @  
+---+---+---+---+
2026-07-02 09:43:50,617 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (24, 24, 0)
2026-07-02 09:43:50,620 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:50,621 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [64.288441] moveTile start direction=absDirection.EAST position=(23, 24, 0) front=absDirection.EAST
2026-07-02 09:43:50,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.297448] moveTile after initial toggle check (+9.0 ms)
2026-07-02 09:43:50,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.299669] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:43:50,632 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (23, 24, 0) facing absDirection.EAST
2026-07-02 09:43:50,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.300691] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:43:50,661 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 269.11 target: 270
2026-07-02 09:43:50,682 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 269.11, diff: 0.8899999999999864
2026-07-02 09:43:50,726 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.05 deg
2026-07-02 09:43:50,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.394404] moveTile finished heading change (+93.7 ms)
2026-07-02 09:43:50,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.394855] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:50,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.395299] moveTile updated front direction (+0.4 ms)
2026-07-02 09:43:50,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.415629] moveTile stopped motors before alignment (+20.3 ms)
2026-07-02 09:43:50,922 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 14.697760928093139 cm
2026-07-02 09:43:50,923 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 101.15300382931783 cm
2026-07-02 09:43:50,925 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 17.0 cm
2026-07-02 09:43:50,927 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 109.39740849051006 cm
2026-07-02 09:43:50,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.595477] moveTile ready for forward move (+179.8 ms)
2026-07-02 09:43:50,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.621459] moveTile initialized movement targetSteps=1 (+26.0 ms)
2026-07-02 09:43:50,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.622937] moveTile loop start (+1.5 ms)
2026-07-02 09:43:50,962 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:50,968 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=93.8, S=248.2, V=254.9
2026-07-02 09:43:50,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.642985] moveTile calculated motor speeds left=100 right=94 gyroSteer=0.8400000000001455 wallSteer=4.800000000000001 (+20.0 ms)
2026-07-02 09:43:51,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.667913] moveTile applied motor speed left=100 right=94 (+24.9 ms)
2026-07-02 09:43:51,005 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.672460] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:51,005 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.673294] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:51,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.678076] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:43:51,011 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.13 deg, practicalMoveTime: 0.057368578415802174 sec
2026-07-02 09:43:51,012 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:43:51,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.680103] moveTile loop end practicalMoveTime=0.057 (+2.0 ms)
2026-07-02 09:43:51,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.680575] moveTile loop start (+0.5 ms)
2026-07-02 09:43:51,019 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:51,024 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=93.8, S=249.4, V=254.9
2026-07-02 09:43:51,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.699945] moveTile calculated motor speeds left=100 right=92 gyroSteer=1.7200000000000273 wallSteer=5.599999999999998 (+19.4 ms)
2026-07-02 09:43:51,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.719761] moveTile applied motor speed left=100 right=92 (+19.8 ms)
2026-07-02 09:43:51,060 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.727838] moveTile tile color check tempTileColor=E (+8.1 ms)
2026-07-02 09:43:51,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.728606] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:51,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.735380] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:43:51,069 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.61 deg, practicalMoveTime: 0.11416190610948235 sec
2026-07-02 09:43:51,069 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:43:51,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.737502] moveTile loop end practicalMoveTime=0.114 (+2.1 ms)
2026-07-02 09:43:51,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.737934] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,075 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cffd0>
2026-07-02 09:43:51,081 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=251.5, V=254.9
2026-07-02 09:43:51,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.754624] moveTile calculated motor speeds left=100 right=90 gyroSteer=3.240000000000009 wallSteer=6.0 (+16.7 ms)
2026-07-02 09:43:51,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.774832] moveTile applied motor speed left=100 right=90 (+20.2 ms)
2026-07-02 09:43:51,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.778573] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:51,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.779131] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:51,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.788343] moveTile ramp check isBigRamp=False (+9.2 ms)
2026-07-02 09:43:51,121 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.06 deg, practicalMoveTime: 0.16644197121602045 sec
2026-07-02 09:43:51,122 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:43:51,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.790312] moveTile loop end practicalMoveTime=0.166 (+2.0 ms)
2026-07-02 09:43:51,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.790686] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,130 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:51,135 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.2, V=254.9
2026-07-02 09:43:51,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.809426] moveTile calculated motor speeds left=100 right=91 gyroSteer=2.400000000000091 wallSteer=6.0 (+18.7 ms)
2026-07-02 09:43:51,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.834279] moveTile applied motor speed left=100 right=91 (+24.9 ms)
2026-07-02 09:43:51,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.838939] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:43:51,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.840055] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:51,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.846757] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:43:51,180 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.72 deg, practicalMoveTime: 0.2242446733971986 sec
2026-07-02 09:43:51,181 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:43:51,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.849657] moveTile loop end practicalMoveTime=0.224 (+2.9 ms)
2026-07-02 09:43:51,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.850191] moveTile loop start (+0.5 ms)
2026-07-02 09:43:51,189 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:51,196 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.5, V=254.9
2026-07-02 09:43:51,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.870778] moveTile calculated motor speeds left=100 right=95 gyroSteer=-1.240000000000009 wallSteer=6.0 (+20.6 ms)
2026-07-02 09:43:51,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.896354] moveTile applied motor speed left=100 right=95 (+25.6 ms)
2026-07-02 09:43:51,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.900238] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:51,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.900936] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:51,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.906475] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:51,240 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3300000000000409 deg, practicalMoveTime: 0.283274227131697 sec
2026-07-02 09:43:51,241 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:43:51,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.909493] moveTile loop end practicalMoveTime=0.283 (+3.0 ms)
2026-07-02 09:43:51,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.909964] moveTile loop start (+0.5 ms)
2026-07-02 09:43:51,247 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:51,256 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.8, V=255.0
2026-07-02 09:43:51,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.928357] moveTile calculated motor speeds left=99 right=100 gyroSteer=-5.319999999999936 wallSteer=5.199999999999999 (+18.4 ms)
2026-07-02 09:43:51,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.952075] moveTile applied motor speed left=99 right=100 (+23.7 ms)
2026-07-02 09:43:51,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.959475] moveTile tile color check tempTileColor=E (+7.4 ms)
2026-07-02 09:43:51,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.960281] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:51,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.966857] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:43:51,300 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.34223838011107094 sec
2026-07-02 09:43:51,301 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:43:51,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.969116] moveTile loop end practicalMoveTime=0.342 (+2.3 ms)
2026-07-02 09:43:51,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.969623] moveTile loop start (+0.5 ms)
2026-07-02 09:43:51,307 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:51,314 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.4, V=254.9
2026-07-02 09:43:51,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [64.989054] moveTile calculated motor speeds left=100 right=99 gyroSteer=-4.519999999999982 wallSteer=5.199999999999999 (+19.4 ms)
2026-07-02 09:43:51,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.009365] moveTile applied motor speed left=100 right=99 (+20.3 ms)
2026-07-02 09:43:51,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.013308] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:51,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.014388] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:51,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.018730] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:51,352 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.84000000000003 deg, practicalMoveTime: 0.393152483222362 sec
2026-07-02 09:43:51,352 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:43:51,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.020698] moveTile loop end practicalMoveTime=0.393 (+2.0 ms)
2026-07-02 09:43:51,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.021088] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,359 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:51,369 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.8, V=255.0
2026-07-02 09:43:51,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.041896] moveTile calculated motor speeds left=99 right=100 gyroSteer=-5.0 wallSteer=4.799999999999997 (+20.8 ms)
2026-07-02 09:43:51,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.062508] moveTile applied motor speed left=99 right=100 (+20.6 ms)
2026-07-02 09:43:51,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.066559] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:51,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.067206] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:51,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.073677] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:43:51,407 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5300000000000296 deg, practicalMoveTime: 0.4475627586547372 sec
2026-07-02 09:43:51,407 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:43:51,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.075641] moveTile loop end practicalMoveTime=0.448 (+2.0 ms)
2026-07-02 09:43:51,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.076070] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,417 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:51,422 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.7, V=255.0
2026-07-02 09:43:51,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.098558] moveTile calculated motor speeds left=92 right=100 gyroSteer=-5.7999999999999545 wallSteer=-1.6000000000000014 (+22.5 ms)
2026-07-02 09:43:51,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.119243] moveTile applied motor speed left=92 right=100 (+20.7 ms)
2026-07-02 09:43:51,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.122954] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:51,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.123473] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:51,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.131784] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:43:51,465 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.8 deg, practicalMoveTime: 0.5050867419473766 sec
2026-07-02 09:43:51,465 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:43:51,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.133762] moveTile loop end practicalMoveTime=0.505 (+2.0 ms)
2026-07-02 09:43:51,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.134139] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,472 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:51,480 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=254.8, V=255.0
2026-07-02 09:43:51,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.153974] moveTile calculated motor speeds left=93 right=100 gyroSteer=-4.839999999999918 wallSteer=-2.0 (+19.8 ms)
2026-07-02 09:43:51,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.179657] moveTile applied motor speed left=93 right=100 (+25.7 ms)
2026-07-02 09:43:51,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.183333] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:51,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.183821] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:51,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.190049] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:43:51,524 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4399999999999977 deg, practicalMoveTime: 0.5632086166295178 sec
2026-07-02 09:43:51,524 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.1 ms
2026-07-02 09:43:51,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.192829] moveTile loop end practicalMoveTime=0.563 (+2.8 ms)
2026-07-02 09:43:51,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.193236] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,533 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70cd0>
2026-07-02 09:43:51,540 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.7, V=254.9
2026-07-02 09:43:51,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.213865] moveTile calculated motor speeds left=92 right=100 gyroSteer=-5.319999999999936 wallSteer=-2.3999999999999986 (+20.6 ms)
2026-07-02 09:43:51,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.233596] moveTile applied motor speed left=92 right=100 (+19.7 ms)
2026-07-02 09:43:51,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.237711] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:51,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.238309] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:51,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.243462] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:43:51,577 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.17 deg, practicalMoveTime: 0.6152902200226684 sec
2026-07-02 09:43:51,577 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:43:51,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.245604] moveTile loop end practicalMoveTime=0.615 (+2.1 ms)
2026-07-02 09:43:51,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.245978] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,587 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cffd0>
2026-07-02 09:43:51,593 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=254.1, V=254.9
2026-07-02 09:43:51,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.266287] moveTile calculated motor speeds left=90 right=100 gyroSteer=-5.279999999999973 wallSteer=-4.399999999999999 (+20.3 ms)
2026-07-02 09:43:51,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.286715] moveTile applied motor speed left=90 right=100 (+20.4 ms)
2026-07-02 09:43:51,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.291348] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:51,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.291896] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:43:51,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.299828] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:43:51,633 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.39000000000004 deg, practicalMoveTime: 0.6710421985790628 sec
2026-07-02 09:43:51,634 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:43:51,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.302026] moveTile loop end practicalMoveTime=0.671 (+2.2 ms)
2026-07-02 09:43:51,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.302471] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,640 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:51,646 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.4, V=254.9
2026-07-02 09:43:51,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.320923] moveTile calculated motor speeds left=89 right=100 gyroSteer=-5.599999999999909 wallSteer=-4.800000000000001 (+18.5 ms)
2026-07-02 09:43:51,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.341391] moveTile applied motor speed left=89 right=100 (+20.5 ms)
2026-07-02 09:43:51,678 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.345489] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:51,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.346622] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:51,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.359298] moveTile ramp check isBigRamp=False (+12.7 ms)
2026-07-02 09:43:51,693 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.39000000000004 deg, practicalMoveTime: 0.7298676952602232 sec
2026-07-02 09:43:51,694 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:43:51,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.361876] moveTile loop end practicalMoveTime=0.730 (+2.6 ms)
2026-07-02 09:43:51,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.362287] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,702 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d90>
2026-07-02 09:43:51,709 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.7, V=254.9
2026-07-02 09:43:51,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.382400] moveTile calculated motor speeds left=88 right=100 gyroSteer=-6.079999999999927 wallSteer=-5.199999999999999 (+20.1 ms)
2026-07-02 09:43:51,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.402506] moveTile applied motor speed left=88 right=100 (+20.1 ms)
2026-07-02 09:43:51,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.407067] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:51,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.408307] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:43:51,745 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.413195] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:43:51,746 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.33000000000004 deg, practicalMoveTime: 0.7825545987601199 sec
2026-07-02 09:43:51,747 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:43:51,747 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.415176] moveTile loop end practicalMoveTime=0.783 (+2.0 ms)
2026-07-02 09:43:51,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.415600] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,756 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:51,763 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.9, V=254.9
2026-07-02 09:43:51,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.439109] moveTile calculated motor speeds left=90 right=100 gyroSteer=-3.519999999999982 wallSteer=-5.600000000000001 (+23.5 ms)
2026-07-02 09:43:51,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.460485] moveTile applied motor speed left=90 right=100 (+21.4 ms)
2026-07-02 09:43:51,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.467437] moveTile tile color check tempTileColor=E (+7.0 ms)
2026-07-02 09:43:51,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.468273] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:51,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.474354] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:43:51,807 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.95000000000005 deg, practicalMoveTime: 0.8431444654075674 sec
2026-07-02 09:43:51,808 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.2 ms
2026-07-02 09:43:51,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.476454] moveTile loop end practicalMoveTime=0.843 (+2.1 ms)
2026-07-02 09:43:51,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.476828] moveTile loop start (+0.4 ms)
2026-07-02 09:43:51,814 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f10>
2026-07-02 09:43:51,820 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.3, V=254.9
2026-07-02 09:43:51,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.495598] moveTile calculated motor speeds left=92 right=100 gyroSteer=-4.079999999999927 wallSteer=-3.6000000000000014 (+18.8 ms)
2026-07-02 09:43:51,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.517540] moveTile applied motor speed left=92 right=100 (+21.9 ms)
2026-07-02 09:43:51,854 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.521710] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:43:51,856 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.524315] moveTile obstacle check escapeFlag=False (+2.6 ms)
2026-07-02 09:43:51,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.532425] moveTile ramp check isBigRamp=False (+8.1 ms)
2026-07-02 09:43:51,866 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.24490212534152642 CM
2026-07-02 09:43:51,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.555006] moveTile finished by time control (+22.6 ms)
2026-07-02 09:43:51,888 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.555820] moveTile start final forward adjustment (+23.4 ms)
2026-07-02 09:43:51,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.588456] moveTile finished final forward adjustment (+32.6 ms)
2026-07-02 09:43:51,922 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.24490212534152642 cm, past distances: [(-0.1532223806702206, False), (-0.2807297176651952, False), (-0.2202041996173458, False), (0, False)]
2026-07-02 09:43:51,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.590516] moveTile updated moved vertical distance -0.245 (+2.1 ms)
2026-07-02 09:43:52,074 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 105.17746351361168 cm
2026-07-02 09:43:52,075 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 70.73926521663735 cm
2026-07-02 09:43:52,078 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:52,080 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.713447084958705 cm
2026-07-02 09:43:52,081 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 141.65889822922603 cm
2026-07-02 09:43:52,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.749994] moveTile updated map and detected walls (+159.5 ms)
2026-07-02 09:43:52,085 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:52,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.753335] moveTile finished (+162.8 ms)
2026-07-02 09:43:52,126 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 4)
2026-07-02 09:43:52,156 - __main__ - [main.py:110] - INFO - Current position: (24, 24, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..24, y=18..24
+   +   +   +   +   +
  B   U   U   U   U  
+   +   +   +   +   +
| E | U   U   U   U  
+   +   +   +   +   +
| E   U   U   U   U  
+   +   +   +   +   +
| E | U   U   U   U  
+   +   +   +   +   +
| E | U   U   U   U  
+   +   +   +   +   +
| V | U   U   U   U  
+   +   +---+---+   +
| E   E   E   E   @  
+---+---+---+---+---+
2026-07-02 09:43:52,168 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (25, 24, 0)
2026-07-02 09:43:52,170 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:52,171 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [65.839306] moveTile start direction=absDirection.EAST position=(24, 24, 0) front=absDirection.EAST
2026-07-02 09:43:52,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.845951] moveTile after initial toggle check (+6.6 ms)
2026-07-02 09:43:52,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.848190] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:43:52,181 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (24, 24, 0) facing absDirection.EAST
2026-07-02 09:43:52,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.849094] moveTile start heading change target=270 (+0.9 ms)
2026-07-02 09:43:52,203 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 270.88 target: 270
2026-07-02 09:43:52,223 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 270.88, diff: 0.8799999999999955
2026-07-02 09:43:52,276 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 270.81 deg
2026-07-02 09:43:52,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.944997] moveTile finished heading change (+95.9 ms)
2026-07-02 09:43:52,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.945440] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:43:52,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.945842] moveTile updated front direction (+0.4 ms)
2026-07-02 09:43:52,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [65.965565] moveTile stopped motors before alignment (+19.7 ms)
2026-07-02 09:43:52,442 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 105.66986739011779 cm
2026-07-02 09:43:52,443 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 69.89185995500631 cm
2026-07-02 09:43:52,447 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.8847113486951 cm
2026-07-02 09:43:52,448 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 141.0555658397108 cm
2026-07-02 09:43:52,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.117050] moveTile ready for forward move (+151.5 ms)
2026-07-02 09:43:52,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.146719] moveTile initialized movement targetSteps=1 (+29.7 ms)
2026-07-02 09:43:52,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.148422] moveTile loop start (+1.7 ms)
2026-07-02 09:43:52,487 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:52,494 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.5, V=254.9
2026-07-02 09:43:52,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.168837] moveTile calculated motor speeds left=92 right=100 gyroSteer=-1.0 wallSteer=-6.399999999999999 (+20.4 ms)
2026-07-02 09:43:52,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.188743] moveTile applied motor speed left=92 right=100 (+19.9 ms)
2026-07-02 09:43:52,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.192560] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:52,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.193634] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:52,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.199105] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:52,532 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.07000000000005 deg, practicalMoveTime: 0.053095498152520806 sec
2026-07-02 09:43:52,533 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.1 ms
2026-07-02 09:43:52,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.201146] moveTile loop end practicalMoveTime=0.053 (+2.0 ms)
2026-07-02 09:43:52,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.201556] moveTile loop start (+0.4 ms)
2026-07-02 09:43:52,539 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:43:52,545 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.5, V=254.9
2026-07-02 09:43:52,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.217563] moveTile calculated motor speeds left=94 right=100 gyroSteer=-1.4400000000000546 wallSteer=-4.0 (+16.0 ms)
2026-07-02 09:43:52,571 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.238636] moveTile applied motor speed left=94 right=100 (+21.1 ms)
2026-07-02 09:43:52,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.243209] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:52,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.243862] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:52,580 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.248136] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:52,582 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.07000000000005 deg, practicalMoveTime: 0.102026372401785 sec
2026-07-02 09:43:52,583 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.0 ms
2026-07-02 09:43:52,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.251126] moveTile loop end practicalMoveTime=0.102 (+3.0 ms)
2026-07-02 09:43:52,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.251499] moveTile loop start (+0.4 ms)
2026-07-02 09:43:52,589 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71010>
2026-07-02 09:43:52,596 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.4, V=254.9
2026-07-02 09:43:52,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.270246] moveTile calculated motor speeds left=96 right=100 gyroSteer=2.400000000000091 wallSteer=-6.399999999999999 (+18.7 ms)
2026-07-02 09:43:52,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.292993] moveTile applied motor speed left=96 right=100 (+22.7 ms)
2026-07-02 09:43:52,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.297842] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:52,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.299120] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:43:52,636 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.303815] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:52,637 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.29 deg, practicalMoveTime: 0.15618209380775583 sec
2026-07-02 09:43:52,638 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:43:52,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.305800] moveTile loop end practicalMoveTime=0.156 (+2.0 ms)
2026-07-02 09:43:52,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.306157] moveTile loop start (+0.4 ms)
2026-07-02 09:43:52,645 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:52,652 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.3, V=254.9
2026-07-02 09:43:52,660 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.327421] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.2799999999999727 wallSteer=-6.399999999999999 (+21.3 ms)
2026-07-02 09:43:52,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.354574] moveTile applied motor speed left=96 right=100 (+27.2 ms)
2026-07-02 09:43:52,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.359101] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:52,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.359877] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:52,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.365750] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:52,699 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.21739623948407416 sec
2026-07-02 09:43:52,699 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.0 ms
2026-07-02 09:43:52,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.367707] moveTile loop end practicalMoveTime=0.217 (+2.0 ms)
2026-07-02 09:43:52,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.368311] moveTile loop start (+0.6 ms)
2026-07-02 09:43:52,707 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:52,713 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.6, V=254.9
2026-07-02 09:43:52,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.386822] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.3200000000001637 wallSteer=-6.800000000000001 (+18.5 ms)
2026-07-02 09:43:52,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.406593] moveTile applied motor speed left=96 right=100 (+19.8 ms)
2026-07-02 09:43:52,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.410264] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:52,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.410873] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:52,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.416415] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:52,750 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.267967888137882 sec
2026-07-02 09:43:52,751 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:43:52,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.419358] moveTile loop end practicalMoveTime=0.268 (+2.9 ms)
2026-07-02 09:43:52,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.419805] moveTile loop start (+0.4 ms)
2026-07-02 09:43:52,758 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:52,765 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=251.5, V=254.9
2026-07-02 09:43:52,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.438837] moveTile calculated motor speeds left=99 right=100 gyroSteer=6.440000000000055 wallSteer=-6.800000000000001 (+19.0 ms)
2026-07-02 09:43:52,791 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.458563] moveTile applied motor speed left=99 right=100 (+19.7 ms)
2026-07-02 09:43:52,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.463905] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:43:52,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.464647] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:52,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.470185] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:52,803 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.79 deg, practicalMoveTime: 0.3201785836652549 sec
2026-07-02 09:43:52,804 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:43:52,804 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.472281] moveTile loop end practicalMoveTime=0.320 (+2.1 ms)
2026-07-02 09:43:52,805 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.472682] moveTile loop start (+0.4 ms)
2026-07-02 09:43:52,813 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705490>
2026-07-02 09:43:52,819 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=251.3, V=254.9
2026-07-02 09:43:52,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.494825] moveTile calculated motor speeds left=100 right=83 gyroSteer=6.039999999999964 wallSteer=10.799999999999999 (+22.1 ms)
2026-07-02 09:43:52,848 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.515759] moveTile applied motor speed left=100 right=83 (+20.9 ms)
2026-07-02 09:43:52,854 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.521787] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:43:52,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.522497] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:52,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.529113] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:43:52,862 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5300000000000296 deg, practicalMoveTime: 0.3785309416409072 sec
2026-07-02 09:43:52,863 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.9 ms
2026-07-02 09:43:52,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.531664] moveTile loop end practicalMoveTime=0.379 (+2.6 ms)
2026-07-02 09:43:52,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.532215] moveTile loop start (+0.6 ms)
2026-07-02 09:43:52,869 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:52,875 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=93.9, S=246.6, V=254.8
2026-07-02 09:43:52,888 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.556174] moveTile calculated motor speeds left=100 right=86 gyroSteer=11.320000000000164 wallSteer=2.3999999999999986 (+24.0 ms)
2026-07-02 09:43:52,911 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.578864] moveTile applied motor speed left=100 right=86 (+22.7 ms)
2026-07-02 09:43:52,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.583091] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:43:52,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.583666] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:52,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.589595] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:43:52,923 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.81 deg, practicalMoveTime: 0.43839775610201476 sec
2026-07-02 09:43:52,923 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:43:52,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.591641] moveTile loop end practicalMoveTime=0.438 (+2.0 ms)
2026-07-02 09:43:52,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.592129] moveTile loop start (+0.5 ms)
2026-07-02 09:43:52,931 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:43:52,937 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.0, V=254.9
2026-07-02 09:43:52,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.611463] moveTile calculated motor speeds left=100 right=92 gyroSteer=5.759999999999991 wallSteer=1.5999999999999979 (+19.3 ms)
2026-07-02 09:43:52,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.634443] moveTile applied motor speed left=100 right=92 (+23.0 ms)
2026-07-02 09:43:52,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.638113] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:52,972 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.639711] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:43:52,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.647180] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:43:52,980 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.35000000000002274 deg, practicalMoveTime: 0.49531817616090495 sec
2026-07-02 09:43:52,981 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.6 ms
2026-07-02 09:43:52,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.649296] moveTile loop end practicalMoveTime=0.495 (+2.1 ms)
2026-07-02 09:43:52,982 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.649705] moveTile loop start (+0.4 ms)
2026-07-02 09:43:52,989 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f842cffd0>
2026-07-02 09:43:52,996 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=249.2, V=254.9
2026-07-02 09:43:53,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.668775] moveTile calculated motor speeds left=100 right=91 gyroSteer=6.480000000000018 wallSteer=2.0 (+19.1 ms)
2026-07-02 09:43:53,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.688154] moveTile applied motor speed left=100 right=91 (+19.4 ms)
2026-07-02 09:43:53,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.691994] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:53,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.693075] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:43:53,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.700049] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:43:53,033 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.5475125990568551 sec
2026-07-02 09:43:53,034 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:43:53,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.702091] moveTile loop end practicalMoveTime=0.548 (+2.0 ms)
2026-07-02 09:43:53,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.702451] moveTile loop start (+0.4 ms)
2026-07-02 09:43:53,039 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:43:53,045 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=248.6, V=254.9
2026-07-02 09:43:53,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.720452] moveTile calculated motor speeds left=100 right=90 gyroSteer=5.2000000000000455 wallSteer=4.0 (+18.0 ms)
2026-07-02 09:43:53,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.740436] moveTile applied motor speed left=100 right=90 (+20.0 ms)
2026-07-02 09:43:53,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.744193] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:53,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.744877] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:53,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.752716] moveTile ramp check isBigRamp=False (+7.8 ms)
2026-07-02 09:43:53,086 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4800000000000182 deg, practicalMoveTime: 0.5994884095021141 sec
2026-07-02 09:43:53,086 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:43:53,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.754720] moveTile loop end practicalMoveTime=0.599 (+2.0 ms)
2026-07-02 09:43:53,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.755123] moveTile loop start (+0.4 ms)
2026-07-02 09:43:53,093 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d705490>
2026-07-02 09:43:53,101 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=248.6, V=254.9
2026-07-02 09:43:53,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.776179] moveTile calculated motor speeds left=100 right=90 gyroSteer=6.240000000000009 wallSteer=3.599999999999998 (+21.1 ms)
2026-07-02 09:43:53,129 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.796605] moveTile applied motor speed left=100 right=90 (+20.4 ms)
2026-07-02 09:43:53,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.800240] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:53,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.801004] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:53,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.806351] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:43:53,139 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8000000000000114 deg, practicalMoveTime: 0.6525482985018802 sec
2026-07-02 09:43:53,140 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:43:53,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.808448] moveTile loop end practicalMoveTime=0.653 (+2.1 ms)
2026-07-02 09:43:53,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.808814] moveTile loop start (+0.4 ms)
2026-07-02 09:43:53,147 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:53,154 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=251.7, V=254.9
2026-07-02 09:43:53,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.828603] moveTile calculated motor speeds left=100 right=96 gyroSteer=0.03999999999996362 wallSteer=3.1999999999999993 (+19.8 ms)
2026-07-02 09:43:53,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.850294] moveTile applied motor speed left=100 right=96 (+21.7 ms)
2026-07-02 09:43:53,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.854101] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:53,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.854759] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:53,193 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.860385] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:43:53,194 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.43 deg, practicalMoveTime: 0.7060718128773967 sec
2026-07-02 09:43:53,195 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:43:53,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.863360] moveTile loop end practicalMoveTime=0.706 (+3.0 ms)
2026-07-02 09:43:53,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.863769] moveTile loop start (+0.4 ms)
2026-07-02 09:43:53,204 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71150>
2026-07-02 09:43:53,211 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.2, V=254.9
2026-07-02 09:43:53,215 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.883225] moveTile calculated motor speeds left=98 right=100 gyroSteer=-4.279999999999973 wallSteer=2.8000000000000007 (+19.5 ms)
2026-07-02 09:43:53,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.902727] moveTile applied motor speed left=98 right=100 (+19.5 ms)
2026-07-02 09:43:53,238 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.906345] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:53,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.908331] moveTile obstacle check escapeFlag=False (+2.0 ms)
2026-07-02 09:43:53,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.914961] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:43:53,248 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5500000000000114 deg, practicalMoveTime: 0.7591284693885256 sec
2026-07-02 09:43:53,249 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:43:53,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.917120] moveTile loop end practicalMoveTime=0.759 (+2.2 ms)
2026-07-02 09:43:53,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.917501] moveTile loop start (+0.4 ms)
2026-07-02 09:43:53,255 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:43:53,261 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.2, V=254.9
2026-07-02 09:43:53,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.938961] moveTile calculated motor speeds left=96 right=100 gyroSteer=-6.119999999999891 wallSteer=2.3999999999999986 (+21.5 ms)
2026-07-02 09:43:53,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.965277] moveTile applied motor speed left=96 right=100 (+26.3 ms)
2026-07-02 09:43:53,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.969361] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:43:53,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.969984] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:53,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.975834] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:53,309 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.35 deg, practicalMoveTime: 0.8193291011646469 sec
2026-07-02 09:43:53,310 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:43:53,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.977838] moveTile loop end practicalMoveTime=0.819 (+2.0 ms)
2026-07-02 09:43:53,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.978199] moveTile loop start (+0.4 ms)
2026-07-02 09:43:53,316 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:53,324 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.2, V=254.9
2026-07-02 09:43:53,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [66.998117] moveTile calculated motor speeds left=94 right=100 gyroSteer=-7.440000000000055 wallSteer=2.3999999999999986 (+19.9 ms)
2026-07-02 09:43:53,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.019364] moveTile applied motor speed left=94 right=100 (+21.2 ms)
2026-07-02 09:43:53,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.023109] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:53,356 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.024295] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:43:53,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.031092] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:43:53,364 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.008438885047659044 CM
2026-07-02 09:43:53,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.052583] moveTile finished by time control (+21.5 ms)
2026-07-02 09:43:53,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.053277] moveTile start final forward adjustment (+22.2 ms)
2026-07-02 09:43:53,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.084661] moveTile finished final forward adjustment (+31.4 ms)
2026-07-02 09:43:53,418 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.008438885047659044 cm, past distances: [(-0.24490212534152642, False), (-0.1532223806702206, False), (-0.2807297176651952, False), (-0.2202041996173458, False)]
2026-07-02 09:43:53,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.087218] moveTile updated moved vertical distance 0.008 (+2.6 ms)
2026-07-02 09:43:53,561 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 15.399999618530273 cm
2026-07-02 09:43:53,562 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 40.26042876683853 cm
2026-07-02 09:43:53,566 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:43:53,568 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.363001322664791 cm
2026-07-02 09:43:53,570 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 172.09509736278952 cm
2026-07-02 09:43:53,571 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.238759] moveTile updated map and detected walls (+151.5 ms)
2026-07-02 09:43:53,574 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:53,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.243597] moveTile finished (+156.4 ms)
2026-07-02 09:43:53,618 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 5)
2026-07-02 09:43:53,647 - __main__ - [main.py:110] - INFO - Current position: (25, 24, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..25, y=18..24
+   +   +   +   +   +   +
  B   U   U   U   U   U  
+   +   +   +   +   +   +
| E | U   U   U   U   U  
+   +   +   +   +   +   +
| E   U   U   U   U   U  
+   +   +   +   +   +   +
| E | U   U   U   U   U  
+   +   +   +   +   +   +
| E | U   U   U   U   U  
+   +   +   +   +   +   +
| V | U   U   U   U   U  
+   +   +---+---+   +---+
| E   E   E   E   E   @  
+---+---+---+---+---+---+
2026-07-02 09:43:53,659 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.EAST. Prioritizing this tile.
2026-07-02 09:43:53,662 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:53,663 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [67.330591] moveTile start direction=absDirection.EAST position=(25, 24, 0) front=absDirection.EAST
2026-07-02 09:43:53,667 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.334965] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:43:53,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.337136] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:43:53,670 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (25, 24, 0) facing absDirection.EAST
2026-07-02 09:43:53,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.338124] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:43:53,694 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 269.33000000000004 target: 270
2026-07-02 09:43:53,716 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 269.33000000000004, diff: 0.6699999999999591
2026-07-02 09:43:53,762 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.31 deg
2026-07-02 09:43:53,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.430287] moveTile finished heading change (+92.2 ms)
2026-07-02 09:43:53,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.430795] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:43:53,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.431308] moveTile updated front direction (+0.5 ms)
2026-07-02 09:43:53,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.452240] moveTile stopped motors before alignment (+20.9 ms)
2026-07-02 09:43:53,945 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 15.290678890917475 cm
2026-07-02 09:43:53,946 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 39.37374122581643 cm
2026-07-02 09:43:53,950 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.5 cm
2026-07-02 09:43:53,952 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 171.66441092916028 cm
2026-07-02 09:43:53,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.621004] moveTile ready for forward move (+168.8 ms)
2026-07-02 09:43:53,984 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.651446] moveTile initialized movement targetSteps=1 (+30.4 ms)
2026-07-02 09:43:53,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.653071] moveTile loop start (+1.6 ms)
2026-07-02 09:43:53,991 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f1ab710>
2026-07-02 09:43:53,998 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.4, V=254.9
2026-07-02 09:43:54,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.671938] moveTile calculated motor speeds left=100 right=98 gyroSteer=1.240000000000009 wallSteer=0.3999999999999986 (+18.9 ms)
2026-07-02 09:43:54,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.693073] moveTile applied motor speed left=100 right=98 (+21.1 ms)
2026-07-02 09:43:54,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.697267] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:43:54,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.697955] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:54,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.702668] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:43:54,036 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.72 deg, practicalMoveTime: 0.05218801168903872 sec
2026-07-02 09:43:54,037 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:43:54,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.705663] moveTile loop end practicalMoveTime=0.052 (+3.0 ms)
2026-07-02 09:43:54,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.706087] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,047 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:54,053 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.0, V=254.9
2026-07-02 09:43:54,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.726703] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.0799999999999272 wallSteer=0.3999999999999986 (+20.6 ms)
2026-07-02 09:43:54,079 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.746686] moveTile applied motor speed left=100 right=96 (+20.0 ms)
2026-07-02 09:43:54,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.750367] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:43:54,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.750990] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:54,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.755425] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:43:54,089 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.10397035064019189 sec
2026-07-02 09:43:54,090 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:43:54,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.758406] moveTile loop end practicalMoveTime=0.104 (+3.0 ms)
2026-07-02 09:43:54,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.758810] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,099 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:43:54,106 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.4, V=254.9
2026-07-02 09:43:54,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.780299] moveTile calculated motor speeds left=100 right=91 gyroSteer=7.720000000000027 wallSteer=1.1999999999999993 (+21.5 ms)
2026-07-02 09:43:54,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.801204] moveTile applied motor speed left=100 right=91 (+20.9 ms)
2026-07-02 09:43:54,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.805813] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:54,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.807154] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:43:54,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.810934] moveTile ramp check isBigRamp=False (+3.8 ms)
2026-07-02 09:43:54,144 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.54 deg, practicalMoveTime: 0.15788316002986025 sec
2026-07-02 09:43:54,145 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:43:54,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.813102] moveTile loop end practicalMoveTime=0.158 (+2.2 ms)
2026-07-02 09:43:54,146 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.813532] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,153 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f1ab710>
2026-07-02 09:43:54,158 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=255.0, V=255.0
2026-07-02 09:43:54,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.831152] moveTile calculated motor speeds left=100 right=92 gyroSteer=5.960000000000036 wallSteer=1.6000000000000014 (+17.6 ms)
2026-07-02 09:43:54,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.855902] moveTile applied motor speed left=100 right=92 (+24.7 ms)
2026-07-02 09:43:54,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.859915] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:43:54,193 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.860633] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:54,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.866449] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:43:54,200 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0500000000000114 deg, practicalMoveTime: 0.21268662587864487 sec
2026-07-02 09:43:54,200 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:43:54,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.868650] moveTile loop end practicalMoveTime=0.213 (+2.2 ms)
2026-07-02 09:43:54,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.869039] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,207 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:54,213 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.6, V=254.9
2026-07-02 09:43:54,220 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.888240] moveTile calculated motor speeds left=100 right=88 gyroSteer=10.079999999999927 wallSteer=1.6000000000000014 (+19.2 ms)
2026-07-02 09:43:54,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.907508] moveTile applied motor speed left=100 right=88 (+19.3 ms)
2026-07-02 09:43:54,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.912100] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:43:54,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.912763] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:54,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.918302] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:43:54,252 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7600000000000477 deg, practicalMoveTime: 0.26407990474554427 sec
2026-07-02 09:43:54,253 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:43:54,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.921507] moveTile loop end practicalMoveTime=0.264 (+3.2 ms)
2026-07-02 09:43:54,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.921932] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,260 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f1ab710>
2026-07-02 09:43:54,267 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.2, V=254.9
2026-07-02 09:43:54,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.941895] moveTile calculated motor speeds left=100 right=92 gyroSteer=5.920000000000073 wallSteer=1.1999999999999993 (+20.0 ms)
2026-07-02 09:43:54,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.960568] moveTile applied motor speed left=100 right=92 (+18.7 ms)
2026-07-02 09:43:54,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.964354] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:43:54,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.964929] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:54,304 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.971402] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:43:54,305 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.3159903837251148 sec
2026-07-02 09:43:54,306 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:43:54,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.973967] moveTile loop end practicalMoveTime=0.316 (+2.6 ms)
2026-07-02 09:43:54,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.974380] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,315 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:43:54,321 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.6, V=254.9
2026-07-02 09:43:54,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [67.997738] moveTile calculated motor speeds left=100 right=90 gyroSteer=7.680000000000064 wallSteer=2.0 (+23.4 ms)
2026-07-02 09:43:54,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.018053] moveTile applied motor speed left=100 right=90 (+20.3 ms)
2026-07-02 09:43:54,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.021698] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:43:54,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.022259] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:54,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.027475] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:43:54,361 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.660000000000025 deg, practicalMoveTime: 0.37131222127525143 sec
2026-07-02 09:43:54,362 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:43:54,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.029935] moveTile loop end practicalMoveTime=0.371 (+2.5 ms)
2026-07-02 09:43:54,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.030299] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,369 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:54,375 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.0, V=254.9
2026-07-02 09:43:54,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.049082] moveTile calculated motor speeds left=100 right=91 gyroSteer=6.0 wallSteer=2.8000000000000007 (+18.8 ms)
2026-07-02 09:43:54,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.070865] moveTile applied motor speed left=100 right=91 (+21.8 ms)
2026-07-02 09:43:54,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.076143] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:43:54,409 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.076817] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:54,414 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.081824] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:43:54,416 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.72 deg, practicalMoveTime: 0.42510429401019734 sec
2026-07-02 09:43:54,416 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:43:54,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.084563] moveTile loop end practicalMoveTime=0.425 (+2.7 ms)
2026-07-02 09:43:54,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.084940] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,423 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f1ab710>
2026-07-02 09:43:54,430 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=255.0, V=255.0
2026-07-02 09:43:54,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.103451] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.0 wallSteer=-4.399999999999999 (+18.5 ms)
2026-07-02 09:43:54,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.126779] moveTile applied motor speed left=96 right=100 (+23.3 ms)
2026-07-02 09:43:54,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.132496] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:43:54,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.133167] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:54,471 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.138855] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:54,473 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.4821230196126234 sec
2026-07-02 09:43:54,474 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:43:54,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.142746] moveTile loop end practicalMoveTime=0.482 (+3.9 ms)
2026-07-02 09:43:54,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.143121] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,483 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71450>
2026-07-02 09:43:54,489 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:43:54,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.163659] moveTile calculated motor speeds left=94 right=100 gyroSteer=0.07999999999992724 wallSteer=-5.600000000000001 (+20.5 ms)
2026-07-02 09:43:54,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.188901] moveTile applied motor speed left=94 right=100 (+25.2 ms)
2026-07-02 09:43:54,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.193731] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:43:54,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.194549] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:43:54,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.199992] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:43:54,533 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.56 deg, practicalMoveTime: 0.5408292410011075 sec
2026-07-02 09:43:54,534 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.7 ms
2026-07-02 09:43:54,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.204080] moveTile loop end practicalMoveTime=0.541 (+4.1 ms)
2026-07-02 09:43:54,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.204821] moveTile loop start (+0.7 ms)
2026-07-02 09:43:54,543 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f1ab710>
2026-07-02 09:43:54,549 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:43:54,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.224933] moveTile calculated motor speeds left=92 right=100 gyroSteer=-1.9200000000000728 wallSteer=-5.600000000000001 (+20.1 ms)
2026-07-02 09:43:54,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.251152] moveTile applied motor speed left=92 right=100 (+26.2 ms)
2026-07-02 09:43:54,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.255023] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:43:54,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.255639] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:54,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.259976] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:43:54,593 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.07000000000005002 deg, practicalMoveTime: 0.5996849690947368 sec
2026-07-02 09:43:54,594 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:43:54,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.261952] moveTile loop end practicalMoveTime=0.600 (+2.0 ms)
2026-07-02 09:43:54,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.262365] moveTile loop start (+0.4 ms)
2026-07-02 09:43:54,601 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:43:54,607 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=255.0, V=255.0
2026-07-02 09:43:54,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.282620] moveTile calculated motor speeds left=97 right=100 gyroSteer=1.1199999999998909 wallSteer=-4.0 (+20.3 ms)
2026-07-02 09:43:54,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.307514] moveTile applied motor speed left=97 right=100 (+24.9 ms)
2026-07-02 09:43:54,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.312198] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:43:54,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.313223] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:43:54,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.320117] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:43:54,654 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.47 deg, practicalMoveTime: 0.6601560623326874 sec
2026-07-02 09:43:54,655 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.7 ms
2026-07-02 09:43:54,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.323669] moveTile loop end practicalMoveTime=0.660 (+3.6 ms)
2026-07-02 09:43:54,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.324149] moveTile loop start (+0.5 ms)
2026-07-02 09:43:54,664 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:43:54,670 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=254.8, V=255.0
2026-07-02 09:43:54,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.342383] moveTile calculated motor speeds left=94 right=100 gyroSteer=-1.0399999999999636 wallSteer=-4.399999999999999 (+18.2 ms)
2026-07-02 09:43:54,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.362179] moveTile applied motor speed left=94 right=100 (+19.8 ms)
2026-07-02 09:43:54,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.366634] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:43:54,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.367312] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:43:54,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.373825] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:43:54,707 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.34000000000003183 deg, practicalMoveTime: 0.711626389455084 sec
2026-07-02 09:43:54,707 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:43:54,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.375666] moveTile loop end practicalMoveTime=0.712 (+1.8 ms)
2026-07-02 09:43:54,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.376241] moveTile loop start (+0.6 ms)
2026-07-02 09:43:54,714 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:43:54,720 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=250.0, V=254.9
2026-07-02 09:43:54,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.392890] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.6399999999998727 wallSteer=-5.600000000000001 (+16.6 ms)
2026-07-02 09:43:54,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.412300] moveTile applied motor speed left=97 right=100 (+19.4 ms)
2026-07-02 09:43:54,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.416707] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:43:54,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.417342] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:43:54,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.423029] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:43:54,779 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.447307] moveTile finished by front distance control. Tof: 14.6, TSD10 : 7.2 (+24.3 ms)
2026-07-02 09:43:54,780 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.447956] moveTile start final forward adjustment (+24.9 ms)
2026-07-02 09:43:54,812 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:43:54,825 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:14.6
2026-07-02 09:43:54,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.512667] moveTile finished final forward adjustment (+64.7 ms)
2026-07-02 09:43:54,846 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.028671757977794143 cm, past distances: [(0.008438885047659044, False), (-0.24490212534152642, False), (-0.1532223806702206, False), (-0.2807297176651952, False)]
2026-07-02 09:43:54,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.514287] moveTile updated moved vertical distance 0.029 (+1.6 ms)
2026-07-02 09:43:55,001 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 104.78354642319631 cm
2026-07-02 09:43:55,003 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 13.980530608139123 cm
2026-07-02 09:43:55,005 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:43:55,006 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 13.980530608139123 cm, TSD10 distance: 3.4 cm
2026-07-02 09:43:55,007 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.011802894809197 cm
2026-07-02 09:43:55,009 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 199.12672313491106 cm
2026-07-02 09:43:55,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.677979] moveTile updated map and detected walls (+163.7 ms)
2026-07-02 09:43:55,013 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:43:55,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.682039] moveTile finished (+167.8 ms)
2026-07-02 09:43:55,052 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 6)
2026-07-02 09:43:55,082 - __main__ - [main.py:110] - INFO - Current position: (26, 24, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| V | U   U   U   U   U   U  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   @ |
+---+---+---+---+---+---+---+
2026-07-02 09:43:55,088 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (26, 23, 0)
2026-07-02 09:43:55,092 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:43:55,094 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [68.762097] moveTile start direction=absDirection.NORTH position=(26, 24, 0) front=absDirection.EAST
2026-07-02 09:43:55,100 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.767840] moveTile after initial toggle check (+5.7 ms)
2026-07-02 09:43:55,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.770100] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.3 ms)
2026-07-02 09:43:55,103 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (26, 24, 0) facing absDirection.EAST
2026-07-02 09:43:55,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [68.771100] moveTile start heading change target=0 (+1.0 ms)
2026-07-02 09:43:55,131 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 270.36 target: 0
2026-07-02 09:43:55,815 - mazeUtils.moveTile - [moveTile.py:385] - INFO - Find victim on RIGHT side during turn: UnitVStatus.G_VICTIM
2026-07-02 09:44:00,971 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 335.83000000000004 target: 335.83000000000004
2026-07-02 09:44:00,994 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 335.83000000000004, diff: 0.0
2026-07-02 09:44:01,040 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 335.83000000000004 deg
2026-07-02 09:44:01,042 - mazeUtils.moveTile - [moveTile.py:397] - INFO - Dropped rescue kit, detected victim info: {<Side.LEFT: 0>: <UnitVStatus.NOTHING: 0>, <Side.RIGHT: 1>: <UnitVStatus.G_VICTIM: 4>}
2026-07-02 09:44:01,342 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 356.2, diff: 3.8000000000000114
2026-07-02 09:44:01,397 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 0.35000000000002274 deg
2026-07-02 09:44:01,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.065638] moveTile finished heading change (+6294.5 ms)
2026-07-02 09:44:01,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.066196] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:44:01,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.066706] moveTile updated front direction (+0.5 ms)
2026-07-02 09:44:01,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.088190] moveTile stopped motors before alignment (+21.5 ms)
2026-07-02 09:44:01,591 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 101.05324133564407 cm
2026-07-02 09:44:01,593 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.80000114440918 cm
2026-07-02 09:44:01,595 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 18.759121887394677 cm
2026-07-02 09:44:01,596 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 196.17011473839096 cm
2026-07-02 09:44:01,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.265140] moveTile start position adjustment using LiDAR for back wall. (+177.0 ms)
2026-07-02 09:44:01,618 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:01,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.540920] moveTile finished backward adjustment (+275.8 ms)
2026-07-02 09:44:01,952 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.620043] moveTile ready for forward move (+79.1 ms)
2026-07-02 09:44:01,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.650737] moveTile initialized movement targetSteps=1 (+30.7 ms)
2026-07-02 09:44:01,984 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.652328] moveTile loop start (+1.6 ms)
2026-07-02 09:44:01,991 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:01,997 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.9, S=254.7, V=82.8
2026-07-02 09:44:02,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.669566] moveTile calculated motor speeds left=100 right=95 gyroSteer=7.6400000000001 wallSteer=-3.1999999999999993 (+17.2 ms)
2026-07-02 09:44:02,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.690660] moveTile applied motor speed left=100 right=95 (+21.1 ms)
2026-07-02 09:44:02,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.695494] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:02,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.696271] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:02,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.702779] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:44:02,036 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.25 deg, practicalMoveTime: 0.052867862972712516 sec
2026-07-02 09:44:02,037 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.0 ms
2026-07-02 09:44:02,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.704868] moveTile loop end practicalMoveTime=0.053 (+2.1 ms)
2026-07-02 09:44:02,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.705348] moveTile loop start (+0.5 ms)
2026-07-02 09:44:02,044 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:02,051 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.6, S=254.7, V=85.3
2026-07-02 09:44:02,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.724900] moveTile calculated motor speeds left=100 right=90 gyroSteer=12.799999999999955 wallSteer=-3.1999999999999993 (+19.6 ms)
2026-07-02 09:44:02,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.744456] moveTile applied motor speed left=100 right=90 (+19.6 ms)
2026-07-02 09:44:02,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.748341] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:02,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.749199] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:02,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.757718] moveTile ramp check isBigRamp=False (+8.5 ms)
2026-07-02 09:44:02,091 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.14000000000004 deg, practicalMoveTime: 0.1071544259848192 sec
2026-07-02 09:44:02,092 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:44:02,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.760278] moveTile loop end practicalMoveTime=0.107 (+2.6 ms)
2026-07-02 09:44:02,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.760816] moveTile loop start (+0.5 ms)
2026-07-02 09:44:02,098 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c90>
2026-07-02 09:44:02,104 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.8, S=254.7, V=83.3
2026-07-02 09:44:02,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.778508] moveTile calculated motor speeds left=100 right=91 gyroSteer=13.759999999999991 wallSteer=-5.199999999999999 (+17.7 ms)
2026-07-02 09:44:02,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.798169] moveTile applied motor speed left=100 right=91 (+19.7 ms)
2026-07-02 09:44:02,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.802412] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:02,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.803010] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:02,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.807494] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:02,141 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.15636947735351717 sec
2026-07-02 09:44:02,142 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.8 ms
2026-07-02 09:44:02,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.810189] moveTile loop end practicalMoveTime=0.156 (+2.7 ms)
2026-07-02 09:44:02,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.810556] moveTile loop start (+0.4 ms)
2026-07-02 09:44:02,149 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c90>
2026-07-02 09:44:02,155 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.6, S=254.8, V=84.8
2026-07-02 09:44:02,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.831053] moveTile calculated motor speeds left=100 right=85 gyroSteer=16.88000000000011 wallSteer=-2.8000000000000007 (+20.5 ms)
2026-07-02 09:44:02,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [75.853128] moveTile applied motor speed left=100 right=85 (+22.1 ms)
2026-07-02 09:44:02,207 - mazeUtils.moveTile - [moveTile.py:241] - INFO - Black tile detected! Stopping movement. Starting escape maneuver.
2026-07-02 09:44:02,568 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Escape maneuver complete.
2026-07-02 09:44:02,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [76.236318] moveTile escaped from black tile (+383.2 ms)
2026-07-02 09:44:02,569 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 0)
2026-07-02 09:44:02,599 - __main__ - [main.py:110] - INFO - Current position: (26, 24, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| V | U   U   U   U   U   B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   @ |
+---+---+---+---+---+---+---+
2026-07-02 09:44:02,606 - __main__ - [main.py:119] - WARNING - Position did not change after movement. Possible error in movement or wall detection.
2026-07-02 09:44:02,608 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (24, 23, 0)
2026-07-02 09:44:02,611 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:02,612 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [76.280119] moveTile start direction=absDirection.WEST position=(26, 24, 0) front=absDirection.NORTH
2026-07-02 09:44:02,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [76.286608] moveTile after initial toggle check (+6.5 ms)
2026-07-02 09:44:02,621 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [76.288708] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:44:02,621 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (26, 24, 0) facing absDirection.NORTH
2026-07-02 09:44:02,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [76.289757] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:44:02,647 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 2.5500000000000114 target: 90
2026-07-02 09:44:03,432 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 84.69999999999999, diff: 5.300000000000011
2026-07-02 09:44:03,481 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.63999999999999 deg
2026-07-02 09:44:03,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.149648] moveTile finished heading change (+859.9 ms)
2026-07-02 09:44:03,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.150329] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:44:03,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.150988] moveTile updated front direction (+0.7 ms)
2026-07-02 09:44:03,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.171563] moveTile stopped motors before alignment (+20.6 ms)
2026-07-02 09:44:03,655 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 100.65138960804339 cm
2026-07-02 09:44:03,656 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 21.612930278075893 cm
2026-07-02 09:44:03,657 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 18.10029735756259 cm
2026-07-02 09:44:03,657 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 189.1846866046136 cm
2026-07-02 09:44:03,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.327179] moveTile start position adjustment using LiDAR for back wall. (+155.6 ms)
2026-07-02 09:44:03,683 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:03,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.532810] moveTile finished backward adjustment (+205.6 ms)
2026-07-02 09:44:03,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.613127] moveTile ready for forward move (+80.3 ms)
2026-07-02 09:44:03,975 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:44:03,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.643164] moveTile initialized movement targetSteps=1 (+30.0 ms)
2026-07-02 09:44:03,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.644429] moveTile loop start (+1.3 ms)
2026-07-02 09:44:03,984 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c50>
2026-07-02 09:44:03,991 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.0, V=254.9
2026-07-02 09:44:04,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.668955] moveTile calculated motor speeds left=100 right=90 gyroSteer=11.799999999999955 wallSteer=-2.0 (+24.5 ms)
2026-07-02 09:44:04,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.691490] moveTile applied motor speed left=100 right=90 (+22.5 ms)
2026-07-02 09:44:04,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.696222] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:44:04,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.696885] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:04,033 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.701343] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:04,035 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.06003577416146084 sec
2026-07-02 09:44:04,036 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.4 ms
2026-07-02 09:44:04,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.704787] moveTile loop end practicalMoveTime=0.060 (+3.4 ms)
2026-07-02 09:44:04,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.705606] moveTile loop start (+0.8 ms)
2026-07-02 09:44:04,045 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:04,051 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.4, V=254.9
2026-07-02 09:44:04,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.728677] moveTile calculated motor speeds left=100 right=90 gyroSteer=12.120000000000118 wallSteer=-2.3999999999999986 (+23.1 ms)
2026-07-02 09:44:04,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.750589] moveTile applied motor speed left=100 right=90 (+21.9 ms)
2026-07-02 09:44:04,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.754749] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:04,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.755528] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.760299] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:04,094 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.150000000000034 deg, practicalMoveTime: 0.11772979179719392 sec
2026-07-02 09:44:04,095 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:44:04,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.763134] moveTile loop end practicalMoveTime=0.118 (+2.8 ms)
2026-07-02 09:44:04,096 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.763625] moveTile loop start (+0.5 ms)
2026-07-02 09:44:04,101 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:04,108 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=248.7, V=254.9
2026-07-02 09:44:04,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.783204] moveTile calculated motor speeds left=100 right=89 gyroSteer=12.400000000000091 wallSteer=-2.0 (+19.6 ms)
2026-07-02 09:44:04,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.803542] moveTile applied motor speed left=100 right=89 (+20.3 ms)
2026-07-02 09:44:04,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.807831] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:04,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.808653] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,151 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.819318] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:44:04,153 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.88 deg, practicalMoveTime: 0.17634797034655464 sec
2026-07-02 09:44:04,155 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:44:04,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.822851] moveTile loop end practicalMoveTime=0.176 (+3.5 ms)
2026-07-02 09:44:04,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.823530] moveTile loop start (+0.7 ms)
2026-07-02 09:44:04,162 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:04,169 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=93.9, S=244.3, V=254.8
2026-07-02 09:44:04,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.842819] moveTile calculated motor speeds left=100 right=85 gyroSteer=13.6400000000001 wallSteer=0.8000000000000007 (+19.3 ms)
2026-07-02 09:44:04,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.863650] moveTile applied motor speed left=100 right=85 (+20.8 ms)
2026-07-02 09:44:04,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.867811] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:04,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.868635] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.874971] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:44:04,208 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.23012999816683471 sec
2026-07-02 09:44:04,210 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:44:04,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.878130] moveTile loop end practicalMoveTime=0.230 (+3.2 ms)
2026-07-02 09:44:04,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.878546] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,218 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:44:04,225 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=248.2, V=254.9
2026-07-02 09:44:04,234 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.901765] moveTile calculated motor speeds left=100 right=83 gyroSteer=15.559999999999945 wallSteer=0.8000000000000007 (+23.2 ms)
2026-07-02 09:44:04,256 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.923943] moveTile applied motor speed left=100 right=83 (+22.2 ms)
2026-07-02 09:44:04,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.927647] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:04,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.928287] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:04,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.932639] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:04,266 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.81 deg, practicalMoveTime: 0.28655573619607955 sec
2026-07-02 09:44:04,267 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:44:04,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.935001] moveTile loop end practicalMoveTime=0.287 (+2.4 ms)
2026-07-02 09:44:04,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.935358] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,275 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:04,281 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.7, V=254.9
2026-07-02 09:44:04,288 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.955794] moveTile calculated motor speeds left=100 right=89 gyroSteer=9.319999999999936 wallSteer=0.8000000000000007 (+20.4 ms)
2026-07-02 09:44:04,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.975558] moveTile applied motor speed left=100 right=89 (+19.8 ms)
2026-07-02 09:44:04,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.980114] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:44:04,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.980765] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:04,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.991511] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:44:04,325 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2400000000000091 deg, practicalMoveTime: 0.34445947167319285 sec
2026-07-02 09:44:04,325 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:44:04,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.993745] moveTile loop end practicalMoveTime=0.344 (+2.2 ms)
2026-07-02 09:44:04,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [77.994207] moveTile loop start (+0.5 ms)
2026-07-02 09:44:04,332 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71550>
2026-07-02 09:44:04,338 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.2, V=254.9
2026-07-02 09:44:04,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.012627] moveTile calculated motor speeds left=90 right=100 gyroSteer=8.319999999999936 wallSteer=-18.0 (+18.4 ms)
2026-07-02 09:44:04,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.033972] moveTile applied motor speed left=90 right=100 (+21.3 ms)
2026-07-02 09:44:04,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.038058] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:04,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.038648] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:04,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.044095] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:44:04,378 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6400000000000432 deg, practicalMoveTime: 0.397330261410606 sec
2026-07-02 09:44:04,379 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.9 ms
2026-07-02 09:44:04,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.047646] moveTile loop end practicalMoveTime=0.397 (+3.6 ms)
2026-07-02 09:44:04,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.048059] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,386 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:44:04,393 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.6, V=254.9
2026-07-02 09:44:04,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.068667] moveTile calculated motor speeds left=93 right=100 gyroSteer=3.0399999999999636 wallSteer=-9.599999999999998 (+20.6 ms)
2026-07-02 09:44:04,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.091366] moveTile applied motor speed left=93 right=100 (+22.7 ms)
2026-07-02 09:44:04,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.095078] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:04,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.095868] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.100398] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:04,433 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7700000000000387 deg, practicalMoveTime: 0.4514454737101338 sec
2026-07-02 09:44:04,434 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:44:04,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.102350] moveTile loop end practicalMoveTime=0.451 (+2.0 ms)
2026-07-02 09:44:04,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.102726] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,440 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c90>
2026-07-02 09:44:04,447 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.3, V=254.9
2026-07-02 09:44:04,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.121572] moveTile calculated motor speeds left=98 right=100 gyroSteer=8.440000000000055 wallSteer=-10.400000000000002 (+18.8 ms)
2026-07-02 09:44:04,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.140887] moveTile applied motor speed left=98 right=100 (+19.3 ms)
2026-07-02 09:44:04,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.147060] moveTile tile color check tempTileColor=E (+6.2 ms)
2026-07-02 09:44:04,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.147884] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.155497] moveTile ramp check isBigRamp=False (+7.6 ms)
2026-07-02 09:44:04,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6400000000000432 deg, practicalMoveTime: 0.5060516040188534 sec
2026-07-02 09:44:04,489 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:44:04,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.157758] moveTile loop end practicalMoveTime=0.506 (+2.3 ms)
2026-07-02 09:44:04,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.158767] moveTile loop start (+1.0 ms)
2026-07-02 09:44:04,499 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:44:04,505 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.1, V=254.9
2026-07-02 09:44:04,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.181448] moveTile calculated motor speeds left=97 right=100 gyroSteer=8.839999999999918 wallSteer=-11.200000000000003 (+22.7 ms)
2026-07-02 09:44:04,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.202362] moveTile applied motor speed left=97 right=100 (+20.9 ms)
2026-07-02 09:44:04,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.207570] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:44:04,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.208172] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:04,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.214909] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:44:04,548 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5400000000000205 deg, practicalMoveTime: 0.5646168020255122 sec
2026-07-02 09:44:04,549 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:44:04,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.216954] moveTile loop end practicalMoveTime=0.565 (+2.0 ms)
2026-07-02 09:44:04,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.217846] moveTile loop start (+0.9 ms)
2026-07-02 09:44:04,556 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71410>
2026-07-02 09:44:04,562 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=247.8, V=254.9
2026-07-02 09:44:04,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.242187] moveTile calculated motor speeds left=92 right=100 gyroSteer=3.3199999999999363 wallSteer=-10.8 (+24.3 ms)
2026-07-02 09:44:04,596 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.263991] moveTile applied motor speed left=92 right=100 (+21.8 ms)
2026-07-02 09:44:04,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.268143] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:04,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.268895] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.273366] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:04,606 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.6223697773585143 sec
2026-07-02 09:44:04,607 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:44:04,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.275317] moveTile loop end practicalMoveTime=0.622 (+2.0 ms)
2026-07-02 09:44:04,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.275686] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,615 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71590>
2026-07-02 09:44:04,622 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=246.5, V=254.8
2026-07-02 09:44:04,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.295597] moveTile calculated motor speeds left=96 right=100 gyroSteer=8.200000000000045 wallSteer=-12.0 (+19.9 ms)
2026-07-02 09:44:04,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.315219] moveTile applied motor speed left=96 right=100 (+19.6 ms)
2026-07-02 09:44:04,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.320408] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:44:04,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.320996] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:04,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.325534] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:04,659 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.6740086861299753 sec
2026-07-02 09:44:04,659 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:44:04,660 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.327650] moveTile loop end practicalMoveTime=0.674 (+2.1 ms)
2026-07-02 09:44:04,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.328683] moveTile loop start (+1.0 ms)
2026-07-02 09:44:04,668 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:04,675 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.1, V=254.9
2026-07-02 09:44:04,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.348962] moveTile calculated motor speeds left=92 right=100 gyroSteer=4.400000000000091 wallSteer=-11.600000000000001 (+20.3 ms)
2026-07-02 09:44:04,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.369677] moveTile applied motor speed left=92 right=100 (+20.7 ms)
2026-07-02 09:44:04,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.373430] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:04,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.373964] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:04,713 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.381065] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:44:04,714 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6100000000000136 deg, practicalMoveTime: 0.7288542486213402 sec
2026-07-02 09:44:04,715 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:44:04,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.383053] moveTile loop end practicalMoveTime=0.729 (+2.0 ms)
2026-07-02 09:44:04,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.383423] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,723 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71710>
2026-07-02 09:44:04,729 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=251.4, V=254.9
2026-07-02 09:44:04,737 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.404710] moveTile calculated motor speeds left=100 right=98 gyroSteer=8.440000000000055 wallSteer=-7.200000000000003 (+21.3 ms)
2026-07-02 09:44:04,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.426244] moveTile applied motor speed left=100 right=98 (+21.5 ms)
2026-07-02 09:44:04,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.429956] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:04,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.430749] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:04,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.436146] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:44:04,769 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.25 deg, practicalMoveTime: 0.7832894604128933 sec
2026-07-02 09:44:04,770 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:44:04,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.438064] moveTile loop end practicalMoveTime=0.783 (+1.9 ms)
2026-07-02 09:44:04,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.438477] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,778 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5510>
2026-07-02 09:44:04,784 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.2, V=254.9
2026-07-02 09:44:04,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.457475] moveTile calculated motor speeds left=100 right=97 gyroSteer=9.680000000000064 wallSteer=-6.800000000000001 (+19.0 ms)
2026-07-02 09:44:04,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.480547] moveTile applied motor speed left=100 right=97 (+23.1 ms)
2026-07-02 09:44:04,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.485089] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:04,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.485731] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:04,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.490259] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:04,824 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8500000000000227 deg, practicalMoveTime: 0.8369604873771733 sec
2026-07-02 09:44:04,824 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:44:04,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.492766] moveTile loop end practicalMoveTime=0.837 (+2.5 ms)
2026-07-02 09:44:04,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.493173] moveTile loop start (+0.4 ms)
2026-07-02 09:44:04,831 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:04,838 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.2, V=254.9
2026-07-02 09:44:04,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.512172] moveTile calculated motor speeds left=100 right=99 gyroSteer=11.6400000000001 wallSteer=-10.8 (+19.0 ms)
2026-07-02 09:44:04,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.532982] moveTile applied motor speed left=100 right=99 (+20.8 ms)
2026-07-02 09:44:04,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.537459] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:04,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.538106] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:04,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.542387] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:04,875 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.42804630830606455 CM
2026-07-02 09:44:04,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.564825] moveTile finished by time control (+22.4 ms)
2026-07-02 09:44:04,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.565763] moveTile start final forward adjustment (+23.4 ms)
2026-07-02 09:44:04,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.595739] moveTile finished final forward adjustment (+30.0 ms)
2026-07-02 09:44:05,078 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 13.082046333864513 cm
2026-07-02 09:44:05,080 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 51.83171850279915 cm
2026-07-02 09:44:05,080 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.302989212094072 cm
2026-07-02 09:44:05,082 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 160.47976318748454 cm
2026-07-02 09:44:05,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.752112] moveTile updated map and detected walls (+156.4 ms)
2026-07-02 09:44:05,088 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:05,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.757274] moveTile finished (+161.5 ms)
2026-07-02 09:44:05,131 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (5, 1)
2026-07-02 09:44:05,160 - __main__ - [main.py:110] - INFO - Current position: (25, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| V | U   U   U   U   U   B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   @   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:05,170 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [78.838015] moveTile start direction=absDirection.WEST position=(25, 24, 0) front=absDirection.WEST
2026-07-02 09:44:05,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.845867] moveTile after initial toggle check (+7.9 ms)
2026-07-02 09:44:05,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.849353] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+3.5 ms)
2026-07-02 09:44:05,182 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (25, 24, 0) facing absDirection.WEST
2026-07-02 09:44:05,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [78.850256] moveTile start heading change target=90 (+0.9 ms)
2026-07-02 09:44:05,207 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 93.56 target: 90
2026-07-02 09:44:05,226 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 93.56, diff: 3.5600000000000023
2026-07-02 09:44:05,363 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 91.97000000000003 deg
2026-07-02 09:44:05,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.031603] moveTile finished heading change (+181.3 ms)
2026-07-02 09:44:05,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.032199] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:44:05,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.032756] moveTile updated front direction (+0.6 ms)
2026-07-02 09:44:05,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.053068] moveTile stopped motors before alignment (+20.3 ms)
2026-07-02 09:44:05,561 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 13.009363276326463 cm
2026-07-02 09:44:05,563 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 50.40599173565045 cm
2026-07-02 09:44:05,564 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.189522987203137 cm
2026-07-02 09:44:05,566 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 160.67948604685995 cm
2026-07-02 09:44:05,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.236071] moveTile start position adjustment using LiDAR for back wall. (+183.0 ms)
2026-07-02 09:44:05,590 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:05,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.419858] moveTile finished backward adjustment (+183.8 ms)
2026-07-02 09:44:05,831 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.499112] moveTile ready for forward move (+79.3 ms)
2026-07-02 09:44:05,860 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:44:05,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.528405] moveTile initialized movement targetSteps=1 (+29.3 ms)
2026-07-02 09:44:05,862 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.529717] moveTile loop start (+1.3 ms)
2026-07-02 09:44:05,869 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:05,874 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=254.3, V=254.9
2026-07-02 09:44:05,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.548911] moveTile calculated motor speeds left=92 right=100 gyroSteer=1.759999999999991 wallSteer=-9.200000000000003 (+19.2 ms)
2026-07-02 09:44:05,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.568385] moveTile applied motor speed left=92 right=100 (+19.5 ms)
2026-07-02 09:44:05,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.575413] moveTile tile color check tempTileColor=E (+7.0 ms)
2026-07-02 09:44:05,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.576943] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:44:05,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.584423] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:44:05,920 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.30000000000001137 deg, practicalMoveTime: 0.05982007041667106 sec
2026-07-02 09:44:05,921 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.2 ms
2026-07-02 09:44:05,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.589817] moveTile loop end practicalMoveTime=0.060 (+5.4 ms)
2026-07-02 09:44:05,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.590547] moveTile loop start (+0.7 ms)
2026-07-02 09:44:05,932 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:05,937 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.4, V=254.9
2026-07-02 09:44:05,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.611597] moveTile calculated motor speeds left=92 right=100 gyroSteer=1.6800000000000637 wallSteer=-8.8 (+21.0 ms)
2026-07-02 09:44:05,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.631952] moveTile applied motor speed left=92 right=100 (+20.4 ms)
2026-07-02 09:44:05,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.635767] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:05,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.636468] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:05,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.641189] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:44:05,974 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.112896886048034 sec
2026-07-02 09:44:05,975 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.0 ms
2026-07-02 09:44:05,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.643108] moveTile loop end practicalMoveTime=0.113 (+1.9 ms)
2026-07-02 09:44:05,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.643472] moveTile loop start (+0.4 ms)
2026-07-02 09:44:05,984 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:05,990 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.4, V=254.9
2026-07-02 09:44:05,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.666768] moveTile calculated motor speeds left=95 right=100 gyroSteer=4.2000000000000455 wallSteer=-9.200000000000003 (+23.3 ms)
2026-07-02 09:44:06,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.688503] moveTile applied motor speed left=95 right=100 (+21.7 ms)
2026-07-02 09:44:06,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.692574] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:06,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.693616] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:06,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.698246] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:06,031 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.93 deg, practicalMoveTime: 0.16942278952546147 sec
2026-07-02 09:44:06,032 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:44:06,033 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.700606] moveTile loop end practicalMoveTime=0.169 (+2.4 ms)
2026-07-02 09:44:06,033 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.700983] moveTile loop start (+0.4 ms)
2026-07-02 09:44:06,039 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d50>
2026-07-02 09:44:06,045 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.4, V=254.9
2026-07-02 09:44:06,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.718403] moveTile calculated motor speeds left=96 right=100 gyroSteer=5.240000000000009 wallSteer=-9.200000000000003 (+17.4 ms)
2026-07-02 09:44:06,071 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.738814] moveTile applied motor speed left=96 right=100 (+20.4 ms)
2026-07-02 09:44:06,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.742627] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:06,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.743758] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:06,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.750616] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:44:06,084 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3900000000000432 deg, practicalMoveTime: 0.2209245394438588 sec
2026-07-02 09:44:06,085 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:44:06,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.753355] moveTile loop end practicalMoveTime=0.221 (+2.7 ms)
2026-07-02 09:44:06,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.753875] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,096 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:06,102 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.6, V=254.9
2026-07-02 09:44:06,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.775982] moveTile calculated motor speeds left=94 right=100 gyroSteer=2.2000000000000455 wallSteer=-8.0 (+22.1 ms)
2026-07-02 09:44:06,129 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.796370] moveTile applied motor speed left=94 right=100 (+20.4 ms)
2026-07-02 09:44:06,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.801192] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:06,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.801791] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:06,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.806104] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:06,139 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.82000000000005 deg, practicalMoveTime: 0.2755142568544408 sec
2026-07-02 09:44:06,140 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:44:06,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.808209] moveTile loop end practicalMoveTime=0.276 (+2.1 ms)
2026-07-02 09:44:06,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.808637] moveTile loop start (+0.4 ms)
2026-07-02 09:44:06,147 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:06,154 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=254.9, V=255.0
2026-07-02 09:44:06,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.828861] moveTile calculated motor speeds left=99 right=100 gyroSteer=8.200000000000045 wallSteer=-8.8 (+20.2 ms)
2026-07-02 09:44:06,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.848940] moveTile applied motor speed left=99 right=100 (+20.1 ms)
2026-07-02 09:44:06,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.854543] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:44:06,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.855558] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:06,193 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.861301] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:44:06,194 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.25 deg, practicalMoveTime: 0.3301096065788506 sec
2026-07-02 09:44:06,195 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:44:06,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.863243] moveTile loop end practicalMoveTime=0.330 (+1.9 ms)
2026-07-02 09:44:06,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.863606] moveTile loop start (+0.4 ms)
2026-07-02 09:44:06,203 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c90>
2026-07-02 09:44:06,209 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.9, V=255.0
2026-07-02 09:44:06,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.886840] moveTile calculated motor speeds left=92 right=100 gyroSteer=1.6400000000001 wallSteer=-8.8 (+23.2 ms)
2026-07-02 09:44:06,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.907864] moveTile applied motor speed left=92 right=100 (+21.0 ms)
2026-07-02 09:44:06,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.911803] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:06,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.913391] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:44:06,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.918145] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:06,251 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6700000000000159 deg, practicalMoveTime: 0.38636157774814744 sec
2026-07-02 09:44:06,252 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.1 ms
2026-07-02 09:44:06,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.920836] moveTile loop end practicalMoveTime=0.386 (+2.7 ms)
2026-07-02 09:44:06,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.921291] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,258 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71650>
2026-07-02 09:44:06,265 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=255.0, V=255.0
2026-07-02 09:44:06,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.944800] moveTile calculated motor speeds left=97 right=100 gyroSteer=5.880000000000109 wallSteer=-8.8 (+23.5 ms)
2026-07-02 09:44:06,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.967328] moveTile applied motor speed left=97 right=100 (+22.5 ms)
2026-07-02 09:44:06,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.972532] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:44:06,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.973287] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:06,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.978751] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:06,312 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6899999999999977 deg, practicalMoveTime: 0.44608586906512965 sec
2026-07-02 09:44:06,312 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:44:06,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.980667] moveTile loop end practicalMoveTime=0.446 (+1.9 ms)
2026-07-02 09:44:06,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.981164] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,319 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:44:06,324 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=254.3, V=254.9
2026-07-02 09:44:06,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [79.999840] moveTile calculated motor speeds left=93 right=100 gyroSteer=3.0799999999999272 wallSteer=-9.200000000000003 (+18.7 ms)
2026-07-02 09:44:06,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.020077] moveTile applied motor speed left=93 right=100 (+20.2 ms)
2026-07-02 09:44:06,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.025006] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:44:06,358 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.026145] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:06,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.030818] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:44:06,364 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2300000000000182 deg, practicalMoveTime: 0.497669191577364 sec
2026-07-02 09:44:06,365 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:44:06,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.033041] moveTile loop end practicalMoveTime=0.498 (+2.2 ms)
2026-07-02 09:44:06,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.033498] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,375 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:06,380 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.9, V=255.0
2026-07-02 09:44:06,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.055581] moveTile calculated motor speeds left=100 right=92 gyroSteer=7.0 wallSteer=0.3999999999999986 (+22.1 ms)
2026-07-02 09:44:06,409 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.076659] moveTile applied motor speed left=100 right=92 (+21.1 ms)
2026-07-02 09:44:06,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.082524] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:44:06,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.083350] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:06,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.089765] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:44:06,423 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.5557937743227745 sec
2026-07-02 09:44:06,423 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:44:06,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.091709] moveTile loop end practicalMoveTime=0.556 (+1.9 ms)
2026-07-02 09:44:06,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.092221] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,433 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:06,438 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=255.0, V=255.0
2026-07-02 09:44:06,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.115470] moveTile calculated motor speeds left=100 right=94 gyroSteer=5.160000000000082 wallSteer=0.8000000000000007 (+23.2 ms)
2026-07-02 09:44:06,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.136855] moveTile applied motor speed left=100 right=94 (+21.4 ms)
2026-07-02 09:44:06,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.140768] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:06,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.142269] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:44:06,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.147158] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:44:06,480 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.17000000000001592 deg, practicalMoveTime: 0.6125278480958409 sec
2026-07-02 09:44:06,481 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:44:06,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.149770] moveTile loop end practicalMoveTime=0.613 (+2.6 ms)
2026-07-02 09:44:06,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.150262] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,487 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d88e490>
2026-07-02 09:44:06,494 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=255.0, V=255.0
2026-07-02 09:44:06,500 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.168306] moveTile calculated motor speeds left=100 right=93 gyroSteer=4.120000000000118 wallSteer=2.8000000000000007 (+18.0 ms)
2026-07-02 09:44:06,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.188826] moveTile applied motor speed left=100 right=93 (+20.5 ms)
2026-07-02 09:44:06,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.193231] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:06,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.194036] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:06,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.199855] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:06,533 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.6646266653024718 sec
2026-07-02 09:44:06,534 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:44:06,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.202137] moveTile loop end practicalMoveTime=0.665 (+2.3 ms)
2026-07-02 09:44:06,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.202640] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,543 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:06,549 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:06,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.223530] moveTile calculated motor speeds left=100 right=95 gyroSteer=1.7200000000000273 wallSteer=2.8000000000000007 (+20.9 ms)
2026-07-02 09:44:06,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.244226] moveTile applied motor speed left=100 right=95 (+20.7 ms)
2026-07-02 09:44:06,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.248734] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:06,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.249515] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:06,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.257681] moveTile ramp check isBigRamp=False (+8.2 ms)
2026-07-02 09:44:06,591 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.650000000000034 deg, practicalMoveTime: 0.72180290336839 sec
2026-07-02 09:44:06,592 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:44:06,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.260270] moveTile loop end practicalMoveTime=0.722 (+2.6 ms)
2026-07-02 09:44:06,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.260728] moveTile loop start (+0.5 ms)
2026-07-02 09:44:06,600 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:06,606 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:06,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.278914] moveTile calculated motor speeds left=100 right=96 gyroSteer=0.6400000000001 wallSteer=2.8000000000000007 (+18.2 ms)
2026-07-02 09:44:06,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.298489] moveTile applied motor speed left=100 right=96 (+19.6 ms)
2026-07-02 09:44:06,636 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.304141] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:44:06,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.304780] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:06,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.309873] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:44:06,643 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0200000000000387 deg, practicalMoveTime: 0.7733374949580184 sec
2026-07-02 09:44:06,644 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:44:06,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.312586] moveTile loop end practicalMoveTime=0.773 (+2.7 ms)
2026-07-02 09:44:06,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.313151] moveTile loop start (+0.6 ms)
2026-07-02 09:44:06,651 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa712d0>
2026-07-02 09:44:06,657 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:44:06,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.333200] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.3199999999999363 wallSteer=0.0 (+20.0 ms)
2026-07-02 09:44:06,686 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.354087] moveTile applied motor speed left=100 right=97 (+20.9 ms)
2026-07-02 09:44:06,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.359530] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:44:06,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.360279] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:06,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.364582] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:06,698 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.8267493290720356 sec
2026-07-02 09:44:06,698 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:44:06,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.366503] moveTile loop end practicalMoveTime=0.827 (+1.9 ms)
2026-07-02 09:44:06,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.366867] moveTile loop start (+0.4 ms)
2026-07-02 09:44:06,706 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70cd0>
2026-07-02 09:44:06,712 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.5, V=254.9
2026-07-02 09:44:06,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.384885] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.399999999999864 wallSteer=-0.3999999999999986 (+18.0 ms)
2026-07-02 09:44:06,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.409071] moveTile applied motor speed left=95 right=100 (+24.2 ms)
2026-07-02 09:44:06,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.413676] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:44:06,747 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.414836] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:06,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.419359] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:06,752 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.3458373772684446 CM
2026-07-02 09:44:06,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.440392] moveTile finished by time control (+21.0 ms)
2026-07-02 09:44:06,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.441084] moveTile start final forward adjustment (+21.7 ms)
2026-07-02 09:44:06,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.470249] moveTile finished final forward adjustment (+29.2 ms)
2026-07-02 09:44:06,950 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 102.58003318105982 cm
2026-07-02 09:44:06,951 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 78.323680887916 cm
2026-07-02 09:44:06,952 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 18.097241756684173 cm
2026-07-02 09:44:06,953 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 132.21939421503131 cm
2026-07-02 09:44:06,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.622253] moveTile updated map and detected walls (+152.0 ms)
2026-07-02 09:44:06,958 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:06,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.626443] moveTile finished (+156.2 ms)
2026-07-02 09:44:06,999 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (4, 2)
2026-07-02 09:44:07,028 - __main__ - [main.py:110] - INFO - Current position: (24, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| V | U   U   U   U   U   B  
+   +   +---+---+   +---+   +
| E   E   E   E   @   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:07,034 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [80.702326] moveTile start direction=absDirection.NORTH position=(24, 24, 0) front=absDirection.WEST
2026-07-02 09:44:07,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.709827] moveTile after initial toggle check (+7.5 ms)
2026-07-02 09:44:07,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.712057] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:44:07,045 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (24, 24, 0) facing absDirection.WEST
2026-07-02 09:44:07,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [80.713258] moveTile start heading change target=0 (+1.2 ms)
2026-07-02 09:44:07,072 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 88.76999999999998 target: 0
2026-07-02 09:44:07,866 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 5.180000000000007, diff: 5.180000000000007
2026-07-02 09:44:07,923 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 1.5 deg
2026-07-02 09:44:07,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [81.591753] moveTile finished heading change (+878.5 ms)
2026-07-02 09:44:07,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [81.592271] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:07,925 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [81.592800] moveTile updated front direction (+0.5 ms)
2026-07-02 09:44:07,946 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [81.614308] moveTile stopped motors before alignment (+21.5 ms)
2026-07-02 09:44:08,118 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 98.639871576886 cm
2026-07-02 09:44:08,121 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 75.43627237803776 cm
2026-07-02 09:44:08,123 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 22.176746209011725 cm
2026-07-02 09:44:08,124 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 135.77932005353094 cm
2026-07-02 09:44:08,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [81.792750] moveTile start position adjustment using LiDAR for back wall. (+178.4 ms)
2026-07-02 09:44:08,146 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:08,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.003195] moveTile finished backward adjustment (+210.4 ms)
2026-07-02 09:44:08,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.079898] moveTile ready for forward move (+76.7 ms)
2026-07-02 09:44:08,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.110194] moveTile initialized movement targetSteps=1 (+30.3 ms)
2026-07-02 09:44:08,444 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.111930] moveTile loop start (+1.7 ms)
2026-07-02 09:44:08,453 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:08,459 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=254.4, V=254.9
2026-07-02 09:44:08,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.133087] moveTile calculated motor speeds left=87 right=100 gyroSteer=-12.279999999999973 wallSteer=0.0 (+21.2 ms)
2026-07-02 09:44:08,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.152985] moveTile applied motor speed left=87 right=100 (+19.9 ms)
2026-07-02 09:44:08,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.158253] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:44:08,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.158892] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:08,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.168448] moveTile ramp check isBigRamp=False (+9.6 ms)
2026-07-02 09:44:08,502 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6299999999999955 deg, practicalMoveTime: 0.0592083899695534 sec
2026-07-02 09:44:08,503 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:44:08,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.171554] moveTile loop end practicalMoveTime=0.059 (+3.1 ms)
2026-07-02 09:44:08,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.172455] moveTile loop start (+0.9 ms)
2026-07-02 09:44:08,510 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:08,517 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=254.7, V=255.0
2026-07-02 09:44:08,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.194099] moveTile calculated motor speeds left=86 right=100 gyroSteer=-13.920000000000073 wallSteer=0.0 (+21.6 ms)
2026-07-02 09:44:08,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.213665] moveTile applied motor speed left=86 right=100 (+19.6 ms)
2026-07-02 09:44:08,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.218596] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:44:08,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.219816] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:08,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.224687] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:44:08,558 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.11398964825646803 sec
2026-07-02 09:44:08,559 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:44:08,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.227846] moveTile loop end practicalMoveTime=0.114 (+3.2 ms)
2026-07-02 09:44:08,561 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.228856] moveTile loop start (+1.0 ms)
2026-07-02 09:44:08,567 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:44:08,574 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=253.9, V=254.9
2026-07-02 09:44:08,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.246506] moveTile calculated motor speeds left=84 right=100 gyroSteer=-15.559999999999945 wallSteer=0.0 (+17.6 ms)
2026-07-02 09:44:08,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.267622] moveTile applied motor speed left=84 right=100 (+21.1 ms)
2026-07-02 09:44:08,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.272054] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:08,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.272624] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:08,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.278156] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:08,611 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3100000000000023 deg, practicalMoveTime: 0.1659929859734568 sec
2026-07-02 09:44:08,612 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:44:08,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.280288] moveTile loop end practicalMoveTime=0.166 (+2.1 ms)
2026-07-02 09:44:08,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.280669] moveTile loop start (+0.4 ms)
2026-07-02 09:44:08,617 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d7052d0>
2026-07-02 09:44:08,624 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=254.7, V=255.0
2026-07-02 09:44:08,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.296900] moveTile calculated motor speeds left=87 right=100 gyroSteer=-12.960000000000036 wallSteer=0.0 (+16.2 ms)
2026-07-02 09:44:08,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.321961] moveTile applied motor speed left=87 right=100 (+25.1 ms)
2026-07-02 09:44:08,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.325894] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:08,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.326451] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:08,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.331293] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:08,665 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7100000000000364 deg, practicalMoveTime: 0.21867110248217672 sec
2026-07-02 09:44:08,665 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:44:08,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.333568] moveTile loop end practicalMoveTime=0.219 (+2.3 ms)
2026-07-02 09:44:08,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.333978] moveTile loop start (+0.4 ms)
2026-07-02 09:44:08,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:44:08,680 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=254.8, V=255.0
2026-07-02 09:44:08,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.353236] moveTile calculated motor speeds left=86 right=100 gyroSteer=-13.879999999999882 wallSteer=0.0 (+19.3 ms)
2026-07-02 09:44:08,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.373356] moveTile applied motor speed left=86 right=100 (+20.1 ms)
2026-07-02 09:44:08,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.379304] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:44:08,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.380195] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:08,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.385477] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:44:08,719 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.27000000000003865 deg, practicalMoveTime: 0.2719108105648462 sec
2026-07-02 09:44:08,719 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.9 ms
2026-07-02 09:44:08,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.387507] moveTile loop end practicalMoveTime=0.272 (+2.0 ms)
2026-07-02 09:44:08,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.388044] moveTile loop start (+0.5 ms)
2026-07-02 09:44:08,726 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:08,732 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=254.3, V=255.0
2026-07-02 09:44:08,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.409837] moveTile calculated motor speeds left=74 right=100 gyroSteer=-13.599999999999909 wallSteer=-11.600000000000001 (+21.8 ms)
2026-07-02 09:44:08,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.436170] moveTile applied motor speed left=74 right=100 (+26.3 ms)
2026-07-02 09:44:08,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.443153] moveTile tile color check tempTileColor=E (+7.0 ms)
2026-07-02 09:44:08,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.443845] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:08,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.450643] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:44:08,784 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.170000000000016 deg, practicalMoveTime: 0.33649494938840296 sec
2026-07-02 09:44:08,784 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.1 ms
2026-07-02 09:44:08,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.452725] moveTile loop end practicalMoveTime=0.336 (+2.1 ms)
2026-07-02 09:44:08,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.453091] moveTile loop start (+0.4 ms)
2026-07-02 09:44:08,797 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:08,804 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=254.7, V=255.0
2026-07-02 09:44:08,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.479544] moveTile calculated motor speeds left=89 right=100 gyroSteer=-11.879999999999882 wallSteer=1.1999999999999993 (+26.5 ms)
2026-07-02 09:44:08,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.499858] moveTile applied motor speed left=89 right=100 (+20.3 ms)
2026-07-02 09:44:08,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.503614] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:08,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.504330] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:08,842 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.510141] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:08,843 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.39536487532424697 sec
2026-07-02 09:44:08,844 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:44:08,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.512279] moveTile loop end practicalMoveTime=0.395 (+2.1 ms)
2026-07-02 09:44:08,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.512681] moveTile loop start (+0.4 ms)
2026-07-02 09:44:08,852 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:08,857 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=254.9, V=255.0
2026-07-02 09:44:08,862 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.530275] moveTile calculated motor speeds left=86 right=100 gyroSteer=-7.079999999999927 wallSteer=-6.0 (+17.6 ms)
2026-07-02 09:44:08,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.552721] moveTile applied motor speed left=86 right=100 (+22.4 ms)
2026-07-02 09:44:08,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.556389] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:08,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.557013] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:08,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.561622] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:08,895 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.27000000000003865 deg, practicalMoveTime: 0.4464855426044357 sec
2026-07-02 09:44:08,896 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:44:08,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.563869] moveTile loop end practicalMoveTime=0.446 (+2.2 ms)
2026-07-02 09:44:08,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.564355] moveTile loop start (+0.5 ms)
2026-07-02 09:44:08,906 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:44:08,912 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=254.4, V=254.9
2026-07-02 09:44:08,919 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.586463] moveTile calculated motor speeds left=96 right=100 gyroSteer=-1.3999999999998636 wallSteer=-2.400000000000002 (+22.1 ms)
2026-07-02 09:44:08,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.605626] moveTile applied motor speed left=96 right=100 (+19.2 ms)
2026-07-02 09:44:08,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.609901] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:08,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.611570] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:44:08,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.620432] moveTile ramp check isBigRamp=False (+8.9 ms)
2026-07-02 09:44:08,954 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.020000000000038654 deg, practicalMoveTime: 0.5045602518196178 sec
2026-07-02 09:44:08,955 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.1 ms
2026-07-02 09:44:08,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.622979] moveTile loop end practicalMoveTime=0.505 (+2.5 ms)
2026-07-02 09:44:08,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.623354] moveTile loop start (+0.4 ms)
2026-07-02 09:44:08,962 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:08,967 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=254.9, V=255.0
2026-07-02 09:44:08,972 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.640338] moveTile calculated motor speeds left=98 right=100 gyroSteer=-1.6399999999998727 wallSteer=0.0 (+17.0 ms)
2026-07-02 09:44:08,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.660738] moveTile applied motor speed left=98 right=100 (+20.4 ms)
2026-07-02 09:44:08,997 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.664819] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:08,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.665544] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:09,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.672183] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:09,005 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.5551664622568012 sec
2026-07-02 09:44:09,006 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:44:09,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.674794] moveTile loop end practicalMoveTime=0.555 (+2.6 ms)
2026-07-02 09:44:09,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.675223] moveTile loop start (+0.4 ms)
2026-07-02 09:44:09,012 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:09,018 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=254.8, V=255.0
2026-07-02 09:44:09,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.691715] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.480000000000018 wallSteer=0.3999999999999986 (+16.5 ms)
2026-07-02 09:44:09,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.715824] moveTile applied motor speed left=97 right=100 (+24.1 ms)
2026-07-02 09:44:09,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.720180] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:09,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.720805] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:09,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.725688] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:44:09,059 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9300000000000068 deg, practicalMoveTime: 0.6081518255356354 sec
2026-07-02 09:44:09,061 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:44:09,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.729067] moveTile loop end practicalMoveTime=0.608 (+3.4 ms)
2026-07-02 09:44:09,062 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.729516] moveTile loop start (+0.4 ms)
2026-07-02 09:44:09,068 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:09,074 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:09,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.752719] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.0799999999999272 wallSteer=2.3999999999999986 (+23.2 ms)
2026-07-02 09:44:09,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.773930] moveTile applied motor speed left=100 right=96 (+21.2 ms)
2026-07-02 09:44:09,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.778190] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:09,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.779050] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:09,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.785269] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:44:09,118 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6000000000000227 deg, practicalMoveTime: 0.6659620615805036 sec
2026-07-02 09:44:09,119 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:44:09,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.787940] moveTile loop end practicalMoveTime=0.666 (+2.7 ms)
2026-07-02 09:44:09,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.788677] moveTile loop start (+0.7 ms)
2026-07-02 09:44:09,129 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:09,134 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=255.0, V=255.0
2026-07-02 09:44:09,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.809675] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.6000000000001364 wallSteer=0.3999999999999986 (+21.0 ms)
2026-07-02 09:44:09,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.828728] moveTile applied motor speed left=100 right=97 (+19.1 ms)
2026-07-02 09:44:09,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.833847] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:44:09,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.834593] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:09,173 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.840503] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:09,174 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.36000000000001364 deg, practicalMoveTime: 0.7204033926347089 sec
2026-07-02 09:44:09,174 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:44:09,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.842465] moveTile loop end practicalMoveTime=0.720 (+2.0 ms)
2026-07-02 09:44:09,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.842827] moveTile loop start (+0.4 ms)
2026-07-02 09:44:09,183 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:09,189 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=255.0, V=255.0
2026-07-02 09:44:09,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.861991] moveTile calculated motor speeds left=100 right=94 gyroSteer=2.7200000000000273 wallSteer=2.3999999999999986 (+19.2 ms)
2026-07-02 09:44:09,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.881504] moveTile applied motor speed left=100 right=94 (+19.5 ms)
2026-07-02 09:44:09,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.886215] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:44:09,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.886829] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:09,223 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.891259] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:09,224 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.32000000000005 deg, practicalMoveTime: 0.7705998290882969 sec
2026-07-02 09:44:09,226 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:44:09,226 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.894153] moveTile loop end practicalMoveTime=0.771 (+2.9 ms)
2026-07-02 09:44:09,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.894577] moveTile loop start (+0.4 ms)
2026-07-02 09:44:09,232 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d278e50>
2026-07-02 09:44:09,238 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=254.9, V=255.0
2026-07-02 09:44:09,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.913865] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.599999999999909 wallSteer=0.3999999999999986 (+19.3 ms)
2026-07-02 09:44:09,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.937880] moveTile applied motor speed left=97 right=100 (+24.0 ms)
2026-07-02 09:44:09,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.942473] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:44:09,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.943168] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:09,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.948368] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:44:09,282 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2000000000000455 deg, practicalMoveTime: 0.82649505552159 sec
2026-07-02 09:44:09,282 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:44:09,283 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.950614] moveTile loop end practicalMoveTime=0.826 (+2.2 ms)
2026-07-02 09:44:09,283 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.951017] moveTile loop start (+0.4 ms)
2026-07-02 09:44:09,290 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:09,296 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=254.8, V=255.0
2026-07-02 09:44:09,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.968724] moveTile calculated motor speeds left=100 right=97 gyroSteer=0.4800000000000182 wallSteer=2.3999999999999986 (+17.7 ms)
2026-07-02 09:44:09,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.993760] moveTile applied motor speed left=100 right=97 (+25.0 ms)
2026-07-02 09:44:09,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.997776] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:09,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [82.998898] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:09,337 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.004943] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:44:09,338 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.3427928787760446 CM
2026-07-02 09:44:09,358 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.026156] moveTile finished by time control (+21.2 ms)
2026-07-02 09:44:09,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.026876] moveTile start final forward adjustment (+21.9 ms)
2026-07-02 09:44:09,394 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.061578] moveTile finished final forward adjustment (+34.7 ms)
2026-07-02 09:44:09,395 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.3427928787760446 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:09,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.063139] moveTile updated moved vertical distance 0.343 (+1.6 ms)
2026-07-02 09:44:09,557 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 72.68800534620782 cm
2026-07-02 09:44:09,560 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:44:09,561 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 45.19578719227392 cm
2026-07-02 09:44:09,562 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 49.98518729702402 cm
2026-07-02 09:44:09,563 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.39734951430958 cm
2026-07-02 09:44:09,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.231109] moveTile updated map and detected walls (+168.0 ms)
2026-07-02 09:44:09,566 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:09,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.234712] moveTile finished (+171.6 ms)
2026-07-02 09:44:09,610 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:44:09,643 - __main__ - [main.py:110] - INFO - Current position: (24, 23, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| V | U   U   U | @   U   B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:09,649 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.EAST. Prioritizing this tile.
2026-07-02 09:44:09,654 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:09,655 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [83.322891] moveTile start direction=absDirection.EAST position=(24, 23, 0) front=absDirection.NORTH
2026-07-02 09:44:09,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.327268] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:44:09,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.329768] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.5 ms)
2026-07-02 09:44:09,662 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (24, 23, 0) facing absDirection.NORTH
2026-07-02 09:44:09,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [83.330759] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:44:09,698 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 358.38 target: 270
2026-07-02 09:44:10,401 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 275.95000000000005, diff: 5.9500000000000455
2026-07-02 09:44:10,453 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.51 deg
2026-07-02 09:44:10,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.122123] moveTile finished heading change (+791.4 ms)
2026-07-02 09:44:10,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.123002] Adjustment after ramp completed (+0.9 ms)
2026-07-02 09:44:10,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.123743] moveTile updated front direction (+0.7 ms)
2026-07-02 09:44:10,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.145498] moveTile stopped motors before alignment (+21.8 ms)
2026-07-02 09:44:10,629 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 73.97785821766863 cm
2026-07-02 09:44:10,631 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 46.07466265093148 cm
2026-07-02 09:44:10,634 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 49.80370531701028 cm
2026-07-02 09:44:10,636 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 17.856396119110368 cm
2026-07-02 09:44:10,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.304791] moveTile start position adjustment using LiDAR for back wall. (+159.3 ms)
2026-07-02 09:44:10,659 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:10,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.586219] moveTile finished backward adjustment (+281.4 ms)
2026-07-02 09:44:10,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.666381] moveTile ready for forward move (+80.2 ms)
2026-07-02 09:44:11,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.702194] moveTile initialized movement targetSteps=1 (+35.8 ms)
2026-07-02 09:44:11,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.703785] moveTile loop start (+1.6 ms)
2026-07-02 09:44:11,045 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:11,051 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=254.9, V=255.0
2026-07-02 09:44:11,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.725479] moveTile calculated motor speeds left=82 right=100 gyroSteer=-17.639999999999873 wallSteer=0.0 (+21.7 ms)
2026-07-02 09:44:11,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.744689] moveTile applied motor speed left=82 right=100 (+19.2 ms)
2026-07-02 09:44:11,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.749117] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:11,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.749929] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:11,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.755735] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:11,089 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.05439016048608988 sec
2026-07-02 09:44:11,089 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:44:11,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.757864] moveTile loop end practicalMoveTime=0.054 (+2.1 ms)
2026-07-02 09:44:11,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.758357] moveTile loop start (+0.5 ms)
2026-07-02 09:44:11,097 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:11,104 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.8, V=255.0
2026-07-02 09:44:11,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.779083] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.559999999999945 wallSteer=0.0 (+20.7 ms)
2026-07-02 09:44:11,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.799147] moveTile applied motor speed left=91 right=100 (+20.1 ms)
2026-07-02 09:44:11,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.802843] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:11,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.803409] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:11,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.809167] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:11,142 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7200000000000273 deg, practicalMoveTime: 0.10725482926310456 sec
2026-07-02 09:44:11,143 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:44:11,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.811685] moveTile loop end practicalMoveTime=0.107 (+2.5 ms)
2026-07-02 09:44:11,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.812697] moveTile loop start (+1.0 ms)
2026-07-02 09:44:11,150 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:11,157 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.8, V=255.0
2026-07-02 09:44:11,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.830436] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.599999999999909 wallSteer=0.0 (+17.7 ms)
2026-07-02 09:44:11,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.853780] moveTile applied motor speed left=92 right=100 (+23.3 ms)
2026-07-02 09:44:11,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.857833] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:11,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.858470] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:11,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.864086] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:11,198 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7300000000000182 deg, practicalMoveTime: 0.1616360771724715 sec
2026-07-02 09:44:11,198 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:44:11,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.866705] moveTile loop end practicalMoveTime=0.162 (+2.6 ms)
2026-07-02 09:44:11,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.867100] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,204 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:11,211 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:11,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.885177] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.519999999999982 wallSteer=0.0 (+18.1 ms)
2026-07-02 09:44:11,238 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.905723] moveTile applied motor speed left=92 right=100 (+20.5 ms)
2026-07-02 09:44:11,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.909725] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:11,243 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.910547] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:11,248 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.915491] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:44:11,249 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.99 deg, practicalMoveTime: 0.21192070050632433 sec
2026-07-02 09:44:11,249 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.9 ms
2026-07-02 09:44:11,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.917640] moveTile loop end practicalMoveTime=0.212 (+2.1 ms)
2026-07-02 09:44:11,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.918056] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,255 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:11,261 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:44:11,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.933964] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.319999999999936 wallSteer=0.0 (+15.9 ms)
2026-07-02 09:44:11,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.954092] moveTile applied motor speed left=92 right=100 (+20.1 ms)
2026-07-02 09:44:11,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.958566] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:11,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.959134] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:11,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.965707] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:11,299 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.26167105750574765 sec
2026-07-02 09:44:11,300 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:44:11,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.968891] moveTile loop end practicalMoveTime=0.262 (+3.2 ms)
2026-07-02 09:44:11,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.969298] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,310 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:11,316 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.4, V=254.9
2026-07-02 09:44:11,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [84.990514] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.11999999999989 wallSteer=0.0 (+21.2 ms)
2026-07-02 09:44:11,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.009744] moveTile applied motor speed left=91 right=100 (+19.2 ms)
2026-07-02 09:44:11,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.013780] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:11,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.014828] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:11,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.019191] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:11,352 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9900000000000091 deg, practicalMoveTime: 0.3133689380326433 sec
2026-07-02 09:44:11,353 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:44:11,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.021721] moveTile loop end practicalMoveTime=0.313 (+2.5 ms)
2026-07-02 09:44:11,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.022145] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,362 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:11,369 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=252.1, V=254.9
2026-07-02 09:44:11,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.045566] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.3199999999999363 wallSteer=0.0 (+23.4 ms)
2026-07-02 09:44:11,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.066252] moveTile applied motor speed left=96 right=100 (+20.7 ms)
2026-07-02 09:44:11,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.071982] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:44:11,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.072823] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:11,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.080108] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:44:11,414 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9500000000000455 deg, practicalMoveTime: 0.3744901054467071 sec
2026-07-02 09:44:11,415 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.5 ms
2026-07-02 09:44:11,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.083236] moveTile loop end practicalMoveTime=0.374 (+3.1 ms)
2026-07-02 09:44:11,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.083635] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,424 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:11,429 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.5, V=254.9
2026-07-02 09:44:11,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.102066] moveTile calculated motor speeds left=92 right=100 gyroSteer=-6.1599999999998545 wallSteer=-1.6000000000000014 (+18.4 ms)
2026-07-02 09:44:11,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.127202] moveTile applied motor speed left=92 right=100 (+25.1 ms)
2026-07-02 09:44:11,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.131551] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:11,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.132293] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:11,471 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.138896] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:11,472 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.160000000000025 deg, practicalMoveTime: 0.4316435359186234 sec
2026-07-02 09:44:11,473 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.0 ms
2026-07-02 09:44:11,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.141231] moveTile loop end practicalMoveTime=0.432 (+2.3 ms)
2026-07-02 09:44:11,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.141647] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,481 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:11,487 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=251.7, V=254.9
2026-07-02 09:44:11,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.159793] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.0 wallSteer=-0.8000000000000007 (+18.1 ms)
2026-07-02 09:44:11,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.180173] moveTile applied motor speed left=94 right=100 (+20.4 ms)
2026-07-02 09:44:11,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.183811] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:11,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.184444] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:11,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.196582] moveTile ramp check isBigRamp=False (+12.1 ms)
2026-07-02 09:44:11,530 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.07000000000005 deg, practicalMoveTime: 0.48844543451846156 sec
2026-07-02 09:44:11,530 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:44:11,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.198547] moveTile loop end practicalMoveTime=0.488 (+2.0 ms)
2026-07-02 09:44:11,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.198917] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,538 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:11,544 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:11,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.218003] moveTile calculated motor speeds left=97 right=100 gyroSteer=-1.400000000000091 wallSteer=-0.8000000000000007 (+19.1 ms)
2026-07-02 09:44:11,571 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.238817] moveTile applied motor speed left=97 right=100 (+20.8 ms)
2026-07-02 09:44:11,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.242802] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:11,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.243356] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:11,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.253934] moveTile ramp check isBigRamp=False (+10.6 ms)
2026-07-02 09:44:11,587 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.4500000000000455 deg, practicalMoveTime: 0.5452029307326063 sec
2026-07-02 09:44:11,588 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:44:11,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.256829] moveTile loop end practicalMoveTime=0.545 (+2.9 ms)
2026-07-02 09:44:11,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.257362] moveTile loop start (+0.5 ms)
2026-07-02 09:44:11,595 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:11,602 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=255.0, V=255.0
2026-07-02 09:44:11,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.275239] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.240000000000009 wallSteer=-1.1999999999999993 (+17.9 ms)
2026-07-02 09:44:11,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.295013] moveTile applied motor speed left=94 right=100 (+19.8 ms)
2026-07-02 09:44:11,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.300397] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:44:11,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.301249] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:11,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.308664] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:44:11,642 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6400000000000432 deg, practicalMoveTime: 0.5990632198156125 sec
2026-07-02 09:44:11,642 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:44:11,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.310703] moveTile loop end practicalMoveTime=0.599 (+2.0 ms)
2026-07-02 09:44:11,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.311126] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,652 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:11,659 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.7, V=255.0
2026-07-02 09:44:11,667 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.335051] moveTile calculated motor speeds left=98 right=100 gyroSteer=0.07999999999992724 wallSteer=-1.1999999999999993 (+23.9 ms)
2026-07-02 09:44:11,689 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.356719] moveTile applied motor speed left=98 right=100 (+21.7 ms)
2026-07-02 09:44:11,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.360545] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:11,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.361281] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:11,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.366888] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:11,700 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.9300000000000068 deg, practicalMoveTime: 0.6566007803600303 sec
2026-07-02 09:44:11,701 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:44:11,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.368905] moveTile loop end practicalMoveTime=0.657 (+2.0 ms)
2026-07-02 09:44:11,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.369300] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,707 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e2fa7d0>
2026-07-02 09:44:11,713 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=251.1, V=254.9
2026-07-02 09:44:11,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.386261] moveTile calculated motor speeds left=100 right=99 gyroSteer=-1.1199999999998909 wallSteer=1.1999999999999993 (+17.0 ms)
2026-07-02 09:44:11,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.407451] moveTile applied motor speed left=100 right=99 (+21.2 ms)
2026-07-02 09:44:11,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.411155] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:11,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.411740] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:11,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.417304] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:11,750 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.7063968904203296 sec
2026-07-02 09:44:11,751 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.4 ms
2026-07-02 09:44:11,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.419240] moveTile loop end practicalMoveTime=0.706 (+1.9 ms)
2026-07-02 09:44:11,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.419593] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,758 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:11,764 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=250.5, V=254.9
2026-07-02 09:44:11,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.439443] moveTile calculated motor speeds left=100 right=98 gyroSteer=2.6399999999998727 wallSteer=-1.1999999999999993 (+19.9 ms)
2026-07-02 09:44:11,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.463837] moveTile applied motor speed left=100 right=98 (+24.4 ms)
2026-07-02 09:44:11,801 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.468550] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:44:11,801 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.469215] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:11,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.473531] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:11,807 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7200000000000273 deg, practicalMoveTime: 0.7624897302740149 sec
2026-07-02 09:44:11,808 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:44:11,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.477267] moveTile loop end practicalMoveTime=0.762 (+3.7 ms)
2026-07-02 09:44:11,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.477715] moveTile loop start (+0.4 ms)
2026-07-02 09:44:11,817 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d615750>
2026-07-02 09:44:11,823 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.4
2026-07-02 09:44:11,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.496176] moveTile calculated motor speeds left=100 right=99 gyroSteer=1.3600000000001273 wallSteer=-0.8000000000000007 (+18.5 ms)
2026-07-02 09:44:11,848 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.515869] moveTile applied motor speed left=100 right=99 (+19.7 ms)
2026-07-02 09:44:11,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.521076] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:44:11,854 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.521837] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:11,860 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.527714] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:11,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.564854] moveTile finished by front distance control. Tof: 13.8, TSD10 : 4.7 (+37.1 ms)
2026-07-02 09:44:11,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.565514] moveTile start final forward adjustment (+37.8 ms)
2026-07-02 09:44:11,927 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:11,996 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.2
2026-07-02 09:44:12,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.688956] moveTile finished final forward adjustment (+123.4 ms)
2026-07-02 09:44:12,022 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.5523993858721434 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:12,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.690514] moveTile updated moved vertical distance 0.552 (+1.6 ms)
2026-07-02 09:44:12,166 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 43.60749541270916 cm
2026-07-02 09:44:12,168 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 10.898339495793039 cm
2026-07-02 09:44:12,172 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:44:12,174 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 10.898339495793039 cm, TSD10 distance: 0.0 cm
2026-07-02 09:44:12,175 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 17.899999618530273 cm
2026-07-02 09:44:12,176 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 51.81378956230754 cm
2026-07-02 09:44:12,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.845229] moveTile updated map and detected walls (+154.7 ms)
2026-07-02 09:44:12,180 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:12,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.849190] moveTile finished (+158.7 ms)
2026-07-02 09:44:12,219 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:44:12,253 - __main__ - [main.py:110] - INFO - Current position: (25, 23, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| V | U   U   U | E   @ | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:12,261 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.NORTH. Prioritizing this tile.
2026-07-02 09:44:12,265 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:12,266 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [85.933972] moveTile start direction=absDirection.NORTH position=(25, 23, 0) front=absDirection.EAST
2026-07-02 09:44:12,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.939466] moveTile after initial toggle check (+5.5 ms)
2026-07-02 09:44:12,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.941474] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.0 ms)
2026-07-02 09:44:12,274 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (25, 23, 0) facing absDirection.EAST
2026-07-02 09:44:12,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [85.942397] moveTile start heading change target=0 (+0.9 ms)
2026-07-02 09:44:12,302 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 270.42 target: 0
2026-07-02 09:44:12,888 - mazeUtils.moveTile - [moveTile.py:385] - INFO - Find victim on RIGHT side during turn: UnitVStatus.R_VICTIM
2026-07-02 09:44:18,043 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 319.18 target: 319.18
2026-07-02 09:44:18,065 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 319.18, diff: 0.0
2026-07-02 09:44:18,112 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 319.18 deg
2026-07-02 09:44:18,953 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 319.79 target: 319.79
2026-07-02 09:44:18,974 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 319.79, diff: 0.0
2026-07-02 09:44:19,020 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 319.79 deg
2026-07-02 09:44:19,871 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 321.35 target: 319.18
2026-07-02 09:44:19,892 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 321.35, diff: 2.170000000000016
2026-07-02 09:44:19,963 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 320.81 deg
2026-07-02 09:44:19,964 - mazeUtils.moveTile - [moveTile.py:397] - INFO - Dropped rescue kit, detected victim info: {<Side.LEFT: 0>: <UnitVStatus.NOTHING: 0>, <Side.RIGHT: 1>: <UnitVStatus.R_VICTIM: 6>}
2026-07-02 09:44:20,427 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 355.24, diff: 4.759999999999991
2026-07-02 09:44:20,483 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 359.06 deg
2026-07-02 09:44:20,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.151825] moveTile finished heading change (+8209.4 ms)
2026-07-02 09:44:20,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.152464] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:44:20,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.153611] moveTile updated front direction (+1.1 ms)
2026-07-02 09:44:20,507 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.174916] moveTile stopped motors before alignment (+21.3 ms)
2026-07-02 09:44:20,659 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 37.20025646616733 cm
2026-07-02 09:44:20,663 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 16.840212952183105 cm
2026-07-02 09:44:20,664 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 23.287097430623916 cm
2026-07-02 09:44:20,665 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 45.952201331379946 cm
2026-07-02 09:44:20,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.333865] moveTile start position adjustment using LiDAR for back wall. (+158.9 ms)
2026-07-02 09:44:20,686 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:20,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.635649] moveTile finished backward adjustment (+301.8 ms)
2026-07-02 09:44:21,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.715217] moveTile ready for forward move (+79.6 ms)
2026-07-02 09:44:21,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.749865] moveTile initialized movement targetSteps=1 (+34.6 ms)
2026-07-02 09:44:21,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.751450] moveTile loop start (+1.6 ms)
2026-07-02 09:44:21,095 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:21,102 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=119.7, S=254.9, V=228.5
2026-07-02 09:44:21,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.774620] moveTile calculated motor speeds left=100 right=93 gyroSteer=9.680000000000064 wallSteer=-3.6000000000000014 (+23.2 ms)
2026-07-02 09:44:21,129 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.796523] moveTile applied motor speed left=100 right=93 (+21.9 ms)
2026-07-02 09:44:21,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.800848] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:21,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.801539] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:21,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.806158] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:21,139 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.05 deg, practicalMoveTime: 0.057288638792260344 sec
2026-07-02 09:44:21,141 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:44:21,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.809343] moveTile loop end practicalMoveTime=0.057 (+3.2 ms)
2026-07-02 09:44:21,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.809765] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,147 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:21,153 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=228.1
2026-07-02 09:44:21,159 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.827074] moveTile calculated motor speeds left=100 right=93 gyroSteer=10.319999999999936 wallSteer=-3.6000000000000014 (+17.3 ms)
2026-07-02 09:44:21,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.850065] moveTile applied motor speed left=100 right=93 (+23.0 ms)
2026-07-02 09:44:21,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.853813] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:21,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.855147] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:44:21,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.859864] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:44:21,193 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.17 deg, practicalMoveTime: 0.10935760732655302 sec
2026-07-02 09:44:21,194 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:44:21,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.861830] moveTile loop end practicalMoveTime=0.109 (+2.0 ms)
2026-07-02 09:44:21,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.862191] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,207 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d7052d0>
2026-07-02 09:44:21,214 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=227.9
2026-07-02 09:44:21,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.889012] moveTile calculated motor speeds left=100 right=87 gyroSteer=15.480000000000018 wallSteer=-3.1999999999999993 (+26.8 ms)
2026-07-02 09:44:21,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.909555] moveTile applied motor speed left=100 right=87 (+20.5 ms)
2026-07-02 09:44:21,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.913391] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:21,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.914598] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:21,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.920607] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:44:21,254 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.76000000000005 deg, practicalMoveTime: 0.1694831460503321 sec
2026-07-02 09:44:21,255 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.2 ms
2026-07-02 09:44:21,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.922955] moveTile loop end practicalMoveTime=0.169 (+2.3 ms)
2026-07-02 09:44:21,256 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.923458] moveTile loop start (+0.5 ms)
2026-07-02 09:44:21,261 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:21,268 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=227.8
2026-07-02 09:44:21,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.942815] moveTile calculated motor speeds left=100 right=90 gyroSteer=10.799999999999955 wallSteer=-0.8000000000000007 (+19.4 ms)
2026-07-02 09:44:21,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.963945] moveTile applied motor speed left=100 right=90 (+21.1 ms)
2026-07-02 09:44:21,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.967987] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:21,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.968733] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:21,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.977966] moveTile ramp check isBigRamp=False (+9.2 ms)
2026-07-02 09:44:21,311 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.77000000000004 deg, practicalMoveTime: 0.2259438654242308 sec
2026-07-02 09:44:21,312 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:44:21,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.979985] moveTile loop end practicalMoveTime=0.226 (+2.0 ms)
2026-07-02 09:44:21,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [94.980771] moveTile loop start (+0.8 ms)
2026-07-02 09:44:21,320 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d7052d0>
2026-07-02 09:44:21,328 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=228.7
2026-07-02 09:44:21,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.002367] moveTile calculated motor speeds left=100 right=89 gyroSteer=11.120000000000118 wallSteer=-0.8000000000000007 (+21.6 ms)
2026-07-02 09:44:21,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.022936] moveTile applied motor speed left=100 right=89 (+20.6 ms)
2026-07-02 09:44:21,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.026752] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:21,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.027544] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:21,369 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.036379] moveTile ramp check isBigRamp=False (+8.8 ms)
2026-07-02 09:44:21,370 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.2838981052968293 sec
2026-07-02 09:44:21,370 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:44:21,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.039479] moveTile loop end practicalMoveTime=0.284 (+3.1 ms)
2026-07-02 09:44:21,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.039967] moveTile loop start (+0.5 ms)
2026-07-02 09:44:21,377 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:21,384 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=228.5
2026-07-02 09:44:21,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.056769] moveTile calculated motor speeds left=100 right=90 gyroSteer=10.600000000000136 wallSteer=-0.8000000000000007 (+16.8 ms)
2026-07-02 09:44:21,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.076086] moveTile applied motor speed left=100 right=90 (+19.3 ms)
2026-07-02 09:44:21,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.080567] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:21,414 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.081407] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:21,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.087311] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:21,420 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.66 deg, practicalMoveTime: 0.33376533411933157 sec
2026-07-02 09:44:21,421 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.9 ms
2026-07-02 09:44:21,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.089677] moveTile loop end practicalMoveTime=0.334 (+2.4 ms)
2026-07-02 09:44:21,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.090151] moveTile loop start (+0.5 ms)
2026-07-02 09:44:21,428 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d7052d0>
2026-07-02 09:44:21,434 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=230.4
2026-07-02 09:44:21,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.110465] moveTile calculated motor speeds left=100 right=91 gyroSteer=10.319999999999936 wallSteer=-2.0 (+20.3 ms)
2026-07-02 09:44:21,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.130678] moveTile applied motor speed left=100 right=91 (+20.2 ms)
2026-07-02 09:44:21,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.136312] moveTile tile color check tempTileColor=L (+5.6 ms)
2026-07-02 09:44:21,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.136929] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:21,476 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.144056] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:44:21,477 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.07000000000005 deg, practicalMoveTime: 0.38979418057539456 sec
2026-07-02 09:44:21,478 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:44:21,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.145989] moveTile loop end practicalMoveTime=0.390 (+1.9 ms)
2026-07-02 09:44:21,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.146344] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,486 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70cd0>
2026-07-02 09:44:21,492 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=229.7
2026-07-02 09:44:21,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.171597] moveTile calculated motor speeds left=100 right=98 gyroSteer=3.880000000000109 wallSteer=-2.3999999999999986 (+25.3 ms)
2026-07-02 09:44:21,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.193348] moveTile applied motor speed left=100 right=98 (+21.8 ms)
2026-07-02 09:44:21,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.199727] moveTile tile color check tempTileColor=L (+6.4 ms)
2026-07-02 09:44:21,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.200646] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:21,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.207550] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:44:21,541 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.16 deg, practicalMoveTime: 0.45287748645004217 sec
2026-07-02 09:44:21,541 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.9 ms
2026-07-02 09:44:21,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.209814] moveTile loop end practicalMoveTime=0.453 (+2.3 ms)
2026-07-02 09:44:21,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.210692] moveTile loop start (+0.9 ms)
2026-07-02 09:44:21,547 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70cd0>
2026-07-02 09:44:21,554 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=230.9
2026-07-02 09:44:21,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.226774] moveTile calculated motor speeds left=100 right=96 gyroSteer=5.519999999999982 wallSteer=-2.0 (+16.1 ms)
2026-07-02 09:44:21,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.249252] moveTile applied motor speed left=100 right=96 (+22.5 ms)
2026-07-02 09:44:21,585 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.253024] moveTile tile color check tempTileColor=L (+3.8 ms)
2026-07-02 09:44:21,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.253693] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:21,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.259450] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:21,593 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4600000000000364 deg, practicalMoveTime: 0.5039934976273666 sec
2026-07-02 09:44:21,593 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:44:21,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.261586] moveTile loop end practicalMoveTime=0.504 (+2.1 ms)
2026-07-02 09:44:21,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.262304] moveTile loop start (+0.7 ms)
2026-07-02 09:44:21,603 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:21,610 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=232.3
2026-07-02 09:44:21,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.283531] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.160000000000082 wallSteer=-0.8000000000000007 (+21.2 ms)
2026-07-02 09:44:21,636 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.303835] moveTile applied motor speed left=97 right=100 (+20.3 ms)
2026-07-02 09:44:21,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.307683] moveTile tile color check tempTileColor=L (+3.8 ms)
2026-07-02 09:44:21,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.308306] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:21,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.317605] moveTile ramp check isBigRamp=False (+9.3 ms)
2026-07-02 09:44:21,651 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.5614277469738003 sec
2026-07-02 09:44:21,651 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:44:21,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.319649] moveTile loop end practicalMoveTime=0.561 (+2.0 ms)
2026-07-02 09:44:21,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.320074] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,662 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:44:21,669 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=233.1
2026-07-02 09:44:21,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.342318] moveTile calculated motor speeds left=100 right=98 gyroSteer=2.7200000000000273 wallSteer=-0.8000000000000007 (+22.2 ms)
2026-07-02 09:44:21,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.361912] moveTile applied motor speed left=100 right=98 (+19.6 ms)
2026-07-02 09:44:21,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.365592] moveTile tile color check tempTileColor=L (+3.7 ms)
2026-07-02 09:44:21,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.366665] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:21,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.380228] moveTile ramp check isBigRamp=False (+13.6 ms)
2026-07-02 09:44:21,714 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.910000000000025 deg, practicalMoveTime: 0.6239756471228883 sec
2026-07-02 09:44:21,715 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.2 ms
2026-07-02 09:44:21,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.382843] moveTile loop end practicalMoveTime=0.624 (+2.6 ms)
2026-07-02 09:44:21,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.383204] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,722 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d7052d0>
2026-07-02 09:44:21,729 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=119.9, S=255.0, V=234.4
2026-07-02 09:44:21,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.403274] moveTile calculated motor speeds left=97 right=100 gyroSteer=0.40000000000009095 wallSteer=-3.1999999999999993 (+20.1 ms)
2026-07-02 09:44:21,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.423634] moveTile applied motor speed left=97 right=100 (+20.4 ms)
2026-07-02 09:44:21,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.428284] moveTile tile color check tempTileColor=L (+4.7 ms)
2026-07-02 09:44:21,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.429109] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:21,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.433541] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:21,767 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6700000000000159 deg, practicalMoveTime: 0.6764093674032515 sec
2026-07-02 09:44:21,768 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:44:21,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.437111] moveTile loop end practicalMoveTime=0.676 (+3.6 ms)
2026-07-02 09:44:21,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.437610] moveTile loop start (+0.5 ms)
2026-07-02 09:44:21,777 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d90>
2026-07-02 09:44:21,783 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=119.9, S=255.0, V=235.9
2026-07-02 09:44:21,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.457626] moveTile calculated motor speeds left=100 right=98 gyroSteer=2.7999999999999545 wallSteer=-1.1999999999999993 (+20.0 ms)
2026-07-02 09:44:21,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.479590] moveTile applied motor speed left=100 right=98 (+22.0 ms)
2026-07-02 09:44:21,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.483464] moveTile tile color check tempTileColor=L (+3.9 ms)
2026-07-02 09:44:21,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.484410] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:21,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.489665] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:44:21,823 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.7311771045846487 sec
2026-07-02 09:44:21,823 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:44:21,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.491591] moveTile loop end practicalMoveTime=0.731 (+1.9 ms)
2026-07-02 09:44:21,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.491954] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,831 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d7052d0>
2026-07-02 09:44:21,836 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=119.8, S=254.9, V=235.2
2026-07-02 09:44:21,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.514749] moveTile calculated motor speeds left=97 right=100 gyroSteer=-1.2799999999999727 wallSteer=-1.1999999999999993 (+22.8 ms)
2026-07-02 09:44:21,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.537313] moveTile applied motor speed left=97 right=100 (+22.6 ms)
2026-07-02 09:44:21,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.541100] moveTile tile color check tempTileColor=L (+3.8 ms)
2026-07-02 09:44:21,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.541696] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:21,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.547205] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:21,881 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.90000000000003 deg, practicalMoveTime: 0.7887961116744038 sec
2026-07-02 09:44:21,882 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:44:21,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.549949] moveTile loop end practicalMoveTime=0.789 (+2.7 ms)
2026-07-02 09:44:21,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.550316] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,891 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:21,897 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=254.9, V=234.5
2026-07-02 09:44:21,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.570348] moveTile calculated motor speeds left=99 right=100 gyroSteer=0.7999999999999545 wallSteer=-1.6000000000000014 (+20.0 ms)
2026-07-02 09:44:21,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.589405] moveTile applied motor speed left=99 right=100 (+19.1 ms)
2026-07-02 09:44:21,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.594184] moveTile tile color check tempTileColor=L (+4.8 ms)
2026-07-02 09:44:21,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.594964] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:21,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.600817] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:21,934 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.63 deg, practicalMoveTime: 0.841465358721379 sec
2026-07-02 09:44:21,935 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:44:21,936 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.603475] moveTile loop end practicalMoveTime=0.841 (+2.7 ms)
2026-07-02 09:44:21,936 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.603874] moveTile loop start (+0.4 ms)
2026-07-02 09:44:21,944 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:44:21,950 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=119.7, S=255.0, V=233.3
2026-07-02 09:44:21,957 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.624668] moveTile calculated motor speeds left=99 right=100 gyroSteer=0.6400000000001 wallSteer=-1.6000000000000014 (+20.8 ms)
2026-07-02 09:44:21,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.644779] moveTile applied motor speed left=99 right=100 (+20.1 ms)
2026-07-02 09:44:21,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.648408] moveTile tile color check tempTileColor=L (+3.6 ms)
2026-07-02 09:44:21,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.649388] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:21,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.656323] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:44:21,989 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.06438294190116343 CM
2026-07-02 09:44:22,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.676387] moveTile finished by time control (+20.1 ms)
2026-07-02 09:44:22,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.677101] moveTile start final forward adjustment (+20.8 ms)
2026-07-02 09:44:22,040 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:22,057 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:14.2
2026-07-02 09:44:22,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.752116] moveTile finished final forward adjustment (+75.0 ms)
2026-07-02 09:44:22,085 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.06438294190116343 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:22,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.753702] moveTile updated moved vertical distance -0.064 (+1.6 ms)
2026-07-02 09:44:22,244 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 12.530976261020239 cm
2026-07-02 09:44:22,247 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:44:22,249 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 12.530976261020239 cm, TSD10 distance: 2.7 cm
2026-07-02 09:44:22,250 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 16.99741081765865 cm
2026-07-02 09:44:22,252 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 79.32900993552953 cm
2026-07-02 09:44:22,253 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 45.84092481102494 cm
2026-07-02 09:44:22,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [95.921689] moveTile updated map and detected walls (+168.0 ms)
2026-07-02 09:44:22,256 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: L
2026-07-02 09:44:27,466 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (25, 22, 0), Tile type: L, Wall types: {<absDirection.NORTH: 0>: <wallType.WALL: 2>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.NO_WALL: 1>}
2026-07-02 09:44:27,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [101.135446] moveTile finished (+5381.7 ms)
2026-07-02 09:44:27,511 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:44:27,538 - __main__ - [main.py:110] - INFO - Current position: (25, 22, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +---+   +
| E | U   U   U   U   @ | U  
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:27,546 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (24, 22, 0)
2026-07-02 09:44:27,550 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:27,552 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [101.219593] moveTile start direction=absDirection.WEST position=(25, 22, 0) front=absDirection.NORTH
2026-07-02 09:44:27,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [101.228365] moveTile after initial toggle check (+8.8 ms)
2026-07-02 09:44:27,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [101.233437] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+5.1 ms)
2026-07-02 09:44:27,566 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (25, 22, 0) facing absDirection.NORTH
2026-07-02 09:44:27,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [101.234475] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:44:27,594 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 0.10000000000002274 target: 90
2026-07-02 09:44:28,593 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 84.22000000000003, diff: 5.779999999999973
2026-07-02 09:44:28,658 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 89.63 deg
2026-07-02 09:44:28,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.326300] moveTile finished heading change (+1091.8 ms)
2026-07-02 09:44:28,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.326736] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:44:28,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.327238] moveTile updated front direction (+0.5 ms)
2026-07-02 09:44:28,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.346393] moveTile stopped motors before alignment (+19.2 ms)
2026-07-02 09:44:28,832 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 16.29751857528406 cm
2026-07-02 09:44:28,833 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 21.271847840738037 cm
2026-07-02 09:44:28,835 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 45.7458206105925 cm
2026-07-02 09:44:28,836 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 40.356061431242715 cm
2026-07-02 09:44:28,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.507402] moveTile start position adjustment using LiDAR for back wall. (+161.0 ms)
2026-07-02 09:44:28,861 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:29,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.693089] moveTile finished backward adjustment (+185.7 ms)
2026-07-02 09:44:29,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.772444] moveTile ready for forward move (+79.4 ms)
2026-07-02 09:44:29,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.805469] moveTile initialized movement targetSteps=1 (+33.0 ms)
2026-07-02 09:44:29,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.806950] moveTile loop start (+1.5 ms)
2026-07-02 09:44:29,148 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa712d0>
2026-07-02 09:44:29,154 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:44:29,160 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.827445] moveTile calculated motor speeds left=94 right=100 gyroSteer=-1.1199999999998909 wallSteer=-4.800000000000001 (+20.5 ms)
2026-07-02 09:44:29,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.847198] moveTile applied motor speed left=94 right=100 (+19.8 ms)
2026-07-02 09:44:29,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.854278] moveTile tile color check tempTileColor=L (+7.1 ms)
2026-07-02 09:44:29,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.854996] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:29,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.859788] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:29,193 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.98 deg, practicalMoveTime: 0.055221315834333276 sec
2026-07-02 09:44:29,194 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:44:29,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.861960] moveTile loop end practicalMoveTime=0.055 (+2.2 ms)
2026-07-02 09:44:29,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.862419] moveTile loop start (+0.5 ms)
2026-07-02 09:44:29,200 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:44:29,205 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.881421] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.7999999999999545 wallSteer=-4.800000000000001 (+19.0 ms)
2026-07-02 09:44:29,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.903697] moveTile applied motor speed left=96 right=100 (+22.3 ms)
2026-07-02 09:44:29,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.907428] moveTile tile color check tempTileColor=L (+3.7 ms)
2026-07-02 09:44:29,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.908153] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:29,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.912649] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:29,246 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.41 deg, practicalMoveTime: 0.10731229819607732 sec
2026-07-02 09:44:29,246 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:44:29,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.914751] moveTile loop end practicalMoveTime=0.107 (+2.1 ms)
2026-07-02 09:44:29,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.915127] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,252 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71550>
2026-07-02 09:44:29,259 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:44:29,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.934157] moveTile calculated motor speeds left=100 right=98 gyroSteer=4.440000000000055 wallSteer=-2.8000000000000007 (+19.0 ms)
2026-07-02 09:44:29,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.960125] moveTile applied motor speed left=100 right=98 (+26.0 ms)
2026-07-02 09:44:29,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.964204] moveTile tile color check tempTileColor=L (+4.1 ms)
2026-07-02 09:44:29,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.964750] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:29,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.969484] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:44:29,304 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.170000000000016 deg, practicalMoveTime: 0.16502736124519368 sec
2026-07-02 09:44:29,305 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.9 ms
2026-07-02 09:44:29,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.973627] moveTile loop end practicalMoveTime=0.165 (+4.1 ms)
2026-07-02 09:44:29,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.973991] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,314 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:29,320 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [102.993349] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.2799999999999727 wallSteer=-2.8000000000000007 (+19.4 ms)
2026-07-02 09:44:29,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.011992] moveTile applied motor speed left=99 right=100 (+18.6 ms)
2026-07-02 09:44:29,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.016110] moveTile tile color check tempTileColor=L (+4.1 ms)
2026-07-02 09:44:29,349 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.016914] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:29,356 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.023921] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:44:29,357 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.32000000000005 deg, practicalMoveTime: 0.21684780430926576 sec
2026-07-02 09:44:29,358 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:44:29,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.027005] moveTile loop end practicalMoveTime=0.217 (+3.1 ms)
2026-07-02 09:44:29,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.027461] moveTile loop start (+0.5 ms)
2026-07-02 09:44:29,366 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:29,371 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:44:29,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.046478] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.3600000000001273 wallSteer=-4.399999999999999 (+19.0 ms)
2026-07-02 09:44:29,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.066232] moveTile applied motor speed left=97 right=100 (+19.8 ms)
2026-07-02 09:44:29,402 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.070033] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:29,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.070672] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:29,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.076376] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:44:29,409 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.040000000000020464 deg, practicalMoveTime: 0.2678290750733029 sec
2026-07-02 09:44:29,410 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:44:29,410 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.078351] moveTile loop end practicalMoveTime=0.268 (+2.0 ms)
2026-07-02 09:44:29,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.078720] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,418 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70e50>
2026-07-02 09:44:29,423 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.097445] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.3600000000001273 wallSteer=-4.800000000000001 (+18.7 ms)
2026-07-02 09:44:29,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.119302] moveTile applied motor speed left=97 right=100 (+21.9 ms)
2026-07-02 09:44:29,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.123140] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:29,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.123750] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:29,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.128045] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:29,461 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.32000000000005 deg, practicalMoveTime: 0.31892161812264386 sec
2026-07-02 09:44:29,462 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:44:29,462 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.130105] moveTile loop end practicalMoveTime=0.319 (+2.1 ms)
2026-07-02 09:44:29,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.130527] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,469 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:44:29,476 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.155710] moveTile calculated motor speeds left=100 right=98 gyroSteer=5.839999999999918 wallSteer=-4.399999999999999 (+25.2 ms)
2026-07-02 09:44:29,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.177573] moveTile applied motor speed left=100 right=98 (+21.9 ms)
2026-07-02 09:44:29,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.182103] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:29,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.182892] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:29,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.189902] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:44:29,523 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6299999999999955 deg, practicalMoveTime: 0.3804229793658568 sec
2026-07-02 09:44:29,525 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.8 ms
2026-07-02 09:44:29,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.193126] moveTile loop end practicalMoveTime=0.380 (+3.2 ms)
2026-07-02 09:44:29,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.193545] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,533 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:29,539 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.219700] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.7200000000000273 wallSteer=-4.800000000000001 (+26.2 ms)
2026-07-02 09:44:29,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.241692] moveTile applied motor speed left=97 right=100 (+22.0 ms)
2026-07-02 09:44:29,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.245723] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:29,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.246329] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:29,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.251172] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:29,585 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.44051577581634976 sec
2026-07-02 09:44:29,585 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:44:29,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.253715] moveTile loop end practicalMoveTime=0.441 (+2.5 ms)
2026-07-02 09:44:29,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.254098] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,593 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:44:29,599 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.271563] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.3600000000001273 wallSteer=-2.8000000000000007 (+17.5 ms)
2026-07-02 09:44:29,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.291334] moveTile applied motor speed left=99 right=100 (+19.8 ms)
2026-07-02 09:44:29,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.295855] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:29,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.296607] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:29,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.303251] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:29,637 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.49207622538963314 sec
2026-07-02 09:44:29,638 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:44:29,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.306500] moveTile loop end practicalMoveTime=0.492 (+3.2 ms)
2026-07-02 09:44:29,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.306969] moveTile loop start (+0.5 ms)
2026-07-02 09:44:29,647 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:29,653 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.326458] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.7599999999999909 wallSteer=0.0 (+19.5 ms)
2026-07-02 09:44:29,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.348113] moveTile applied motor speed left=100 right=99 (+21.7 ms)
2026-07-02 09:44:29,684 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.352372] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:29,686 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.353618] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:29,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.361470] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:44:29,695 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.020000000000038654 deg, practicalMoveTime: 0.5487239994958263 sec
2026-07-02 09:44:29,695 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.1 ms
2026-07-02 09:44:29,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.363809] moveTile loop end practicalMoveTime=0.549 (+2.3 ms)
2026-07-02 09:44:29,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.364391] moveTile loop start (+0.6 ms)
2026-07-02 09:44:29,704 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:44:29,710 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:29,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.383638] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.6000000000001364 wallSteer=0.0 (+19.2 ms)
2026-07-02 09:44:29,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.408642] moveTile applied motor speed left=100 right=99 (+25.0 ms)
2026-07-02 09:44:29,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.412378] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:29,745 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.412926] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:29,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.418057] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:44:29,752 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.52000000000004 deg, practicalMoveTime: 0.6049156177301936 sec
2026-07-02 09:44:29,752 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:44:29,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.420533] moveTile loop end practicalMoveTime=0.605 (+2.5 ms)
2026-07-02 09:44:29,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.420909] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,758 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:29,764 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:44:29,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.437176] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.7200000000000273 wallSteer=0.0 (+16.3 ms)
2026-07-02 09:44:29,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.457544] moveTile applied motor speed left=97 right=100 (+20.4 ms)
2026-07-02 09:44:29,795 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.462687] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:44:29,795 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.463348] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:29,804 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.471875] moveTile ramp check isBigRamp=False (+8.5 ms)
2026-07-02 09:44:29,805 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.6581322675185585 sec
2026-07-02 09:44:29,806 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.9 ms
2026-07-02 09:44:29,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.474317] moveTile loop end practicalMoveTime=0.658 (+2.4 ms)
2026-07-02 09:44:29,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.474688] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,813 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70e50>
2026-07-02 09:44:29,819 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:44:29,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.493036] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.480000000000018 wallSteer=0.0 (+18.3 ms)
2026-07-02 09:44:29,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.513474] moveTile applied motor speed left=96 right=100 (+20.4 ms)
2026-07-02 09:44:29,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.517522] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:29,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.518050] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:29,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.522871] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:29,856 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.6 deg, practicalMoveTime: 0.708520806248604 sec
2026-07-02 09:44:29,857 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:44:29,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.525616] moveTile loop end practicalMoveTime=0.709 (+2.7 ms)
2026-07-02 09:44:29,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.525995] moveTile loop start (+0.4 ms)
2026-07-02 09:44:29,864 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:44:29,871 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:44:29,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.545153] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.3999999999998636 wallSteer=0.0 (+19.2 ms)
2026-07-02 09:44:29,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.566305] moveTile applied motor speed left=96 right=100 (+21.2 ms)
2026-07-02 09:44:29,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.572454] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:44:29,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.573209] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:29,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.582400] moveTile ramp check isBigRamp=False (+9.2 ms)
2026-07-02 09:44:29,916 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.766858854532867 sec
2026-07-02 09:44:29,916 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:44:29,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.585309] moveTile loop end practicalMoveTime=0.767 (+2.9 ms)
2026-07-02 09:44:29,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.586048] moveTile loop start (+0.7 ms)
2026-07-02 09:44:29,924 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71790>
2026-07-02 09:44:29,929 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:44:29,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.602546] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.240000000000009 wallSteer=0.0 (+16.5 ms)
2026-07-02 09:44:29,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.622562] moveTile applied motor speed left=93 right=100 (+20.0 ms)
2026-07-02 09:44:29,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.626370] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:29,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.626933] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:29,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.632471] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:29,966 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5100000000000477 deg, practicalMoveTime: 0.8166668140094734 sec
2026-07-02 09:44:29,967 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.7 ms
2026-07-02 09:44:29,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.635528] moveTile loop end practicalMoveTime=0.817 (+3.1 ms)
2026-07-02 09:44:29,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.636298] moveTile loop start (+0.8 ms)
2026-07-02 09:44:29,974 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71590>
2026-07-02 09:44:29,980 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:44:29,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.657949] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.639999999999873 wallSteer=0.0 (+21.7 ms)
2026-07-02 09:44:30,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.679625] moveTile applied motor speed left=95 right=100 (+21.7 ms)
2026-07-02 09:44:30,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.686791] moveTile tile color check tempTileColor=E (+7.2 ms)
2026-07-02 09:44:30,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.687525] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:30,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.691957] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:30,025 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.07832514609977084 CM
2026-07-02 09:44:30,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.712311] moveTile finished by time control (+20.4 ms)
2026-07-02 09:44:30,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.713123] moveTile start final forward adjustment (+21.2 ms)
2026-07-02 09:44:30,076 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:30,097 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:15.0
2026-07-02 09:44:30,196 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.8
2026-07-02 09:44:30,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.884386] moveTile finished final forward adjustment (+171.3 ms)
2026-07-02 09:44:30,217 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.07832514609977084 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:30,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [103.886090] moveTile updated moved vertical distance 0.078 (+1.7 ms)
2026-07-02 09:44:30,367 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 45.61573758903941 cm
2026-07-02 09:44:30,369 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 52.3408761100608 cm
2026-07-02 09:44:30,370 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 76.6073738033277 cm
2026-07-02 09:44:30,371 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 11.398263343371234 cm
2026-07-02 09:44:30,374 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:44:30,375 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 11.398263343371234 cm, TSD10 distance: 2.0 cm
2026-07-02 09:44:30,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [104.043663] moveTile updated map and detected walls (+157.6 ms)
2026-07-02 09:44:30,379 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:30,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [104.047501] moveTile finished (+161.4 ms)
2026-07-02 09:44:30,421 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:44:30,463 - __main__ - [main.py:110] - INFO - Current position: (24, 22, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +---+   +
| E | U   U   U | @   L | U  
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:30,471 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (24, 21, 0)
2026-07-02 09:44:30,475 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:30,476 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [104.144047] moveTile start direction=absDirection.NORTH position=(24, 22, 0) front=absDirection.WEST
2026-07-02 09:44:30,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [104.149531] moveTile after initial toggle check (+5.5 ms)
2026-07-02 09:44:30,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [104.151575] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.0 ms)
2026-07-02 09:44:30,484 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (24, 22, 0) facing absDirection.WEST
2026-07-02 09:44:30,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [104.152532] moveTile start heading change target=0 (+1.0 ms)
2026-07-02 09:44:30,510 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.56 target: 0
2026-07-02 09:44:31,291 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 5.53000000000003, diff: 5.53000000000003
2026-07-02 09:44:31,340 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 0.9399999999999977 deg
2026-07-02 09:44:31,341 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [105.008500] moveTile finished heading change (+856.0 ms)
2026-07-02 09:44:31,341 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [105.008963] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:31,342 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:44:32,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.044345] moveTile updated front direction (+1035.4 ms)
2026-07-02 09:44:32,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.067153] moveTile stopped motors before alignment (+22.8 ms)
2026-07-02 09:44:32,559 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 42.3592350723431 cm
2026-07-02 09:44:32,563 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 49.34532394848737 cm
2026-07-02 09:44:32,564 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 81.18798611819874 cm
2026-07-02 09:44:32,565 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 14.297823184971275 cm
2026-07-02 09:44:32,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.233261] moveTile ready for forward move (+166.1 ms)
2026-07-02 09:44:32,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.261952] moveTile initialized movement targetSteps=1 (+28.7 ms)
2026-07-02 09:44:32,596 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.263580] moveTile loop start (+1.6 ms)
2026-07-02 09:44:32,604 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa712d0>
2026-07-02 09:44:32,610 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:44:32,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.284302] moveTile calculated motor speeds left=93 right=100 gyroSteer=-12.519999999999982 wallSteer=6.399999999999999 (+20.7 ms)
2026-07-02 09:44:32,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.304738] moveTile applied motor speed left=93 right=100 (+20.4 ms)
2026-07-02 09:44:32,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.308900] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:32,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.309561] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:32,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.313841] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:32,647 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.10000000000002274 deg, practicalMoveTime: 0.052585998550641194 sec
2026-07-02 09:44:32,647 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:44:32,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.315750] moveTile loop end practicalMoveTime=0.053 (+1.9 ms)
2026-07-02 09:44:32,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.316234] moveTile loop start (+0.5 ms)
2026-07-02 09:44:32,654 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71550>
2026-07-02 09:44:32,661 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:44:32,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.335763] moveTile calculated motor speeds left=99 right=100 gyroSteer=-9.519999999999982 wallSteer=8.8 (+19.5 ms)
2026-07-02 09:44:32,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.355727] moveTile applied motor speed left=99 right=100 (+20.0 ms)
2026-07-02 09:44:32,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.361562] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:44:32,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.362336] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:32,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.374237] moveTile ramp check isBigRamp=False (+11.9 ms)
2026-07-02 09:44:32,707 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.040000000000020464 deg, practicalMoveTime: 0.11250605650402545 sec
2026-07-02 09:44:32,708 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:44:32,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.376441] moveTile loop end practicalMoveTime=0.113 (+2.2 ms)
2026-07-02 09:44:32,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.376974] moveTile loop start (+0.5 ms)
2026-07-02 09:44:32,714 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:32,720 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:44:32,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.397655] moveTile calculated motor speeds left=100 right=97 gyroSteer=-6.440000000000055 wallSteer=9.2 (+20.7 ms)
2026-07-02 09:44:32,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.424270] moveTile applied motor speed left=100 right=97 (+26.6 ms)
2026-07-02 09:44:32,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.428903] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:44:32,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.429725] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:32,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.438092] moveTile ramp check isBigRamp=False (+8.4 ms)
2026-07-02 09:44:32,772 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9500000000000455 deg, practicalMoveTime: 0.17607544615768123 sec
2026-07-02 09:44:32,773 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.5 ms
2026-07-02 09:44:32,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.441276] moveTile loop end practicalMoveTime=0.176 (+3.2 ms)
2026-07-02 09:44:32,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.441704] moveTile loop start (+0.4 ms)
2026-07-02 09:44:32,781 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71750>
2026-07-02 09:44:32,787 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:44:32,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.460144] moveTile calculated motor speeds left=100 right=97 gyroSteer=-6.279999999999973 wallSteer=8.8 (+18.4 ms)
2026-07-02 09:44:32,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.480633] moveTile applied motor speed left=100 right=97 (+20.5 ms)
2026-07-02 09:44:32,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.485101] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:32,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.485801] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:32,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.492232] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:44:32,825 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1400000000000432 deg, practicalMoveTime: 0.2286649440869398 sec
2026-07-02 09:44:32,826 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:44:32,826 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.494168] moveTile loop end practicalMoveTime=0.229 (+1.9 ms)
2026-07-02 09:44:32,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.494552] moveTile loop start (+0.4 ms)
2026-07-02 09:44:32,832 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71350>
2026-07-02 09:44:32,838 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:44:32,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.512204] moveTile calculated motor speeds left=100 right=98 gyroSteer=-7.079999999999927 wallSteer=8.8 (+17.7 ms)
2026-07-02 09:44:32,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.532220] moveTile applied motor speed left=100 right=98 (+20.0 ms)
2026-07-02 09:44:32,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.536504] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:32,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.537167] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:32,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.541486] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:32,876 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4500000000000455 deg, practicalMoveTime: 0.2776173406284748 sec
2026-07-02 09:44:32,877 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:44:32,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.545549] moveTile loop end practicalMoveTime=0.278 (+4.1 ms)
2026-07-02 09:44:32,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.546003] moveTile loop start (+0.5 ms)
2026-07-02 09:44:32,890 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa715d0>
2026-07-02 09:44:32,897 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.7, S=255.0, V=255.0
2026-07-02 09:44:32,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.570814] moveTile calculated motor speeds left=100 right=96 gyroSteer=-5.240000000000009 wallSteer=8.399999999999999 (+24.8 ms)
2026-07-02 09:44:32,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.596706] moveTile applied motor speed left=100 right=96 (+25.9 ms)
2026-07-02 09:44:32,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.600563] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:32,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.601221] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:32,939 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.606742] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:32,941 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.94 deg, practicalMoveTime: 0.3413887919441966 sec
2026-07-02 09:44:32,942 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.3 ms
2026-07-02 09:44:32,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.609937] moveTile loop end practicalMoveTime=0.341 (+3.2 ms)
2026-07-02 09:44:32,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.610298] moveTile loop start (+0.4 ms)
2026-07-02 09:44:32,949 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71550>
2026-07-02 09:44:32,955 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:44:32,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.629896] moveTile calculated motor speeds left=100 right=91 gyroSteer=-3.7999999999999545 wallSteer=12.0 (+19.6 ms)
2026-07-02 09:44:32,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.650656] moveTile applied motor speed left=100 right=91 (+20.8 ms)
2026-07-02 09:44:32,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.654350] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:32,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.654918] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:32,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.660893] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:44:32,994 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9900000000000091 deg, practicalMoveTime: 0.39416654741304724 sec
2026-07-02 09:44:32,995 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:44:32,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.663268] moveTile loop end practicalMoveTime=0.394 (+2.4 ms)
2026-07-02 09:44:32,996 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.663628] moveTile loop start (+0.4 ms)
2026-07-02 09:44:33,004 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa715d0>
2026-07-02 09:44:33,010 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:44:33,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.686057] moveTile calculated motor speeds left=99 right=100 gyroSteer=-5.319999999999936 wallSteer=5.199999999999999 (+22.4 ms)
2026-07-02 09:44:33,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.705994] moveTile applied motor speed left=99 right=100 (+19.9 ms)
2026-07-02 09:44:33,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.709716] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:33,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.710379] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:33,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.716951] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:33,050 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.96000000000004 deg, practicalMoveTime: 0.44920093303409125 sec
2026-07-02 09:44:33,051 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:44:33,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.718958] moveTile loop end practicalMoveTime=0.449 (+2.0 ms)
2026-07-02 09:44:33,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.719324] moveTile loop start (+0.4 ms)
2026-07-02 09:44:33,060 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71750>
2026-07-02 09:44:33,068 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:44:33,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.741912] moveTile calculated motor speeds left=100 right=94 gyroSteer=-6.639999999999873 wallSteer=12.399999999999999 (+22.6 ms)
2026-07-02 09:44:33,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.762848] moveTile applied motor speed left=100 right=94 (+20.9 ms)
2026-07-02 09:44:33,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.768438] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:44:33,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.769395] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:33,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.776401] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:44:33,110 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8100000000000023 deg, practicalMoveTime: 0.5081416521096375 sec
2026-07-02 09:44:33,110 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:44:33,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.778769] moveTile loop end practicalMoveTime=0.508 (+2.4 ms)
2026-07-02 09:44:33,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.779184] moveTile loop start (+0.4 ms)
2026-07-02 09:44:33,119 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d50>
2026-07-02 09:44:33,126 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:33,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.800071] moveTile calculated motor speeds left=98 right=100 gyroSteer=-10.240000000000009 wallSteer=8.399999999999999 (+20.9 ms)
2026-07-02 09:44:33,159 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.826436] moveTile applied motor speed left=98 right=100 (+26.4 ms)
2026-07-02 09:44:33,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.832157] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:44:33,165 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.832810] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:33,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.837172] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:33,170 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.17000000000001592 deg, practicalMoveTime: 0.5680674213521296 sec
2026-07-02 09:44:33,171 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:44:33,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.839545] moveTile loop end practicalMoveTime=0.568 (+2.4 ms)
2026-07-02 09:44:33,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.839947] moveTile loop start (+0.4 ms)
2026-07-02 09:44:33,180 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:33,186 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:44:33,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.862369] moveTile calculated motor speeds left=99 right=100 gyroSteer=-6.519999999999982 wallSteer=6.0 (+22.4 ms)
2026-07-02 09:44:33,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.884386] moveTile applied motor speed left=99 right=100 (+22.0 ms)
2026-07-02 09:44:33,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.889183] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:33,223 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.890439] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:44:33,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.896097] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:44:33,229 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.160000000000025 deg, practicalMoveTime: 0.6259810128537703 sec
2026-07-02 09:44:33,231 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:44:33,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.899562] moveTile loop end practicalMoveTime=0.626 (+3.5 ms)
2026-07-02 09:44:33,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.900144] moveTile loop start (+0.6 ms)
2026-07-02 09:44:33,239 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:33,245 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:33,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.920216] moveTile calculated motor speeds left=100 right=97 gyroSteer=-5.440000000000055 wallSteer=8.0 (+20.1 ms)
2026-07-02 09:44:33,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.945293] moveTile applied motor speed left=100 right=97 (+25.1 ms)
2026-07-02 09:44:33,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.949007] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:33,282 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.949583] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:33,288 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.955482] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:33,289 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.6846679296744939 sec
2026-07-02 09:44:33,290 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:44:33,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.957818] moveTile loop end practicalMoveTime=0.685 (+2.3 ms)
2026-07-02 09:44:33,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.958188] moveTile loop start (+0.4 ms)
2026-07-02 09:44:33,296 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71750>
2026-07-02 09:44:33,301 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=255.0, V=255.0
2026-07-02 09:44:33,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.975014] moveTile calculated motor speeds left=100 right=96 gyroSteer=-4.279999999999973 wallSteer=8.0 (+16.8 ms)
2026-07-02 09:44:33,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [106.994769] moveTile applied motor speed left=100 right=96 (+19.8 ms)
2026-07-02 09:44:33,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.001711] moveTile tile color check tempTileColor=E (+6.9 ms)
2026-07-02 09:44:33,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.002440] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:33,341 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.009030] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:33,342 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.910000000000025 deg, practicalMoveTime: 0.7372995830250637 sec
2026-07-02 09:44:33,343 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:44:33,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.011784] moveTile loop end practicalMoveTime=0.737 (+2.8 ms)
2026-07-02 09:44:33,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.012303] moveTile loop start (+0.5 ms)
2026-07-02 09:44:33,349 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:33,355 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:44:33,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.028878] moveTile calculated motor speeds left=100 right=98 gyroSteer=-3.9200000000000728 wallSteer=5.600000000000001 (+16.6 ms)
2026-07-02 09:44:33,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.051895] moveTile applied motor speed left=100 right=98 (+23.0 ms)
2026-07-02 09:44:33,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.056780] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:44:33,390 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.057990] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:33,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.062481] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:33,395 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.1200000000000045 deg, practicalMoveTime: 0.7899428265557531 sec
2026-07-02 09:44:33,396 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:44:33,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.064527] moveTile loop end practicalMoveTime=0.790 (+2.0 ms)
2026-07-02 09:44:33,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.065440] moveTile loop start (+0.9 ms)
2026-07-02 09:44:33,407 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:44:33,413 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.8
2026-07-02 09:44:33,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.087341] moveTile calculated motor speeds left=100 right=96 gyroSteer=-2.8799999999998818 wallSteer=6.0 (+21.9 ms)
2026-07-02 09:44:33,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.110159] moveTile applied motor speed left=100 right=96 (+22.8 ms)
2026-07-02 09:44:33,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.114064] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:33,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.114850] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:33,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.119372] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:33,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.141865] moveTile finished by front distance control. Tof: 14.0, TSD10 : 5.4 (+22.5 ms)
2026-07-02 09:44:33,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.142701] moveTile start final forward adjustment (+23.3 ms)
2026-07-02 09:44:33,508 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:33,577 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:14.0
2026-07-02 09:44:33,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.266665] moveTile finished final forward adjustment (+124.0 ms)
2026-07-02 09:44:33,600 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.3419785187598454 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:33,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.268264] moveTile updated moved vertical distance 0.342 (+1.6 ms)
2026-07-02 09:44:33,758 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 10.88506154787792 cm
2026-07-02 09:44:33,762 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:44:33,763 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 10.88506154787792 cm, TSD10 distance: 0.0 cm
2026-07-02 09:44:33,765 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 77.07816187141539 cm
2026-07-02 09:44:33,767 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 111.82693612277406 cm
2026-07-02 09:44:33,768 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 14.810424798889235 cm
2026-07-02 09:44:33,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.436792] moveTile updated map and detected walls (+168.5 ms)
2026-07-02 09:44:33,773 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:33,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.441405] moveTile finished (+173.1 ms)
2026-07-02 09:44:33,821 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:44:33,851 - __main__ - [main.py:110] - INFO - Current position: (24, 21, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+   +   +
| E | U   U   U | @   U   U  
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | U  
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:33,859 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (25, 21, 0)
2026-07-02 09:44:33,864 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:33,866 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [107.533768] moveTile start direction=absDirection.EAST position=(24, 21, 0) front=absDirection.NORTH
2026-07-02 09:44:33,875 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.542771] moveTile after initial toggle check (+9.0 ms)
2026-07-02 09:44:33,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.544985] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:44:33,878 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (24, 21, 0) facing absDirection.NORTH
2026-07-02 09:44:33,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [107.546049] moveTile start heading change target=270 (+1.1 ms)
2026-07-02 09:44:33,902 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 358.27 target: 270
2026-07-02 09:44:34,900 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 274.93, diff: 4.930000000000007
2026-07-02 09:44:34,963 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 271.24 deg
2026-07-02 09:44:34,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [108.632519] moveTile finished heading change (+1086.5 ms)
2026-07-02 09:44:34,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [108.633228] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:44:34,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [108.633779] moveTile updated front direction (+0.6 ms)
2026-07-02 09:44:34,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [108.654657] moveTile stopped motors before alignment (+20.9 ms)
2026-07-02 09:44:35,134 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 15.380187135013102 cm
2026-07-02 09:44:35,136 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 72.28687660102369 cm
2026-07-02 09:44:35,141 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 106.3547920938738 cm
2026-07-02 09:44:35,143 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 18.299202495396234 cm
2026-07-02 09:44:35,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [108.812085] moveTile start position adjustment using LiDAR for back wall. (+157.4 ms)
2026-07-02 09:44:35,166 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:35,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.055855] moveTile finished backward adjustment (+243.8 ms)
2026-07-02 09:44:35,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.132576] moveTile ready for forward move (+76.7 ms)
2026-07-02 09:44:35,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.159765] moveTile initialized movement targetSteps=1 (+27.2 ms)
2026-07-02 09:44:35,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.161449] moveTile loop start (+1.7 ms)
2026-07-02 09:44:35,499 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:35,506 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:44:35,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.182898] moveTile calculated motor speeds left=100 right=92 gyroSteer=0.3200000000001637 wallSteer=7.199999999999999 (+21.4 ms)
2026-07-02 09:44:35,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.204505] moveTile applied motor speed left=100 right=92 (+21.6 ms)
2026-07-02 09:44:35,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.210282] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:44:35,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.211037] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:35,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.218067] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:44:35,552 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8700000000000045 deg, practicalMoveTime: 0.05963663128553337 sec
2026-07-02 09:44:35,552 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.7 ms
2026-07-02 09:44:35,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.220819] moveTile loop end practicalMoveTime=0.060 (+2.8 ms)
2026-07-02 09:44:35,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.221262] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,559 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71350>
2026-07-02 09:44:35,565 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:44:35,572 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.239608] moveTile calculated motor speeds left=100 right=95 gyroSteer=-0.6399999999998727 wallSteer=4.800000000000001 (+18.3 ms)
2026-07-02 09:44:35,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.261355] moveTile applied motor speed left=100 right=95 (+21.7 ms)
2026-07-02 09:44:35,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.265301] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:35,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.266400] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:35,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.272619] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:44:35,606 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3100000000000023 deg, practicalMoveTime: 0.11290925644346854 sec
2026-07-02 09:44:35,606 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:44:35,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.274557] moveTile loop end practicalMoveTime=0.113 (+1.9 ms)
2026-07-02 09:44:35,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.274914] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,616 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70f90>
2026-07-02 09:44:35,621 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=255.0, V=255.0
2026-07-02 09:44:35,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.295500] moveTile calculated motor speeds left=100 right=94 gyroSteer=0.8000000000001819 wallSteer=4.800000000000001 (+20.6 ms)
2026-07-02 09:44:35,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.315587] moveTile applied motor speed left=100 right=94 (+20.1 ms)
2026-07-02 09:44:35,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.319471] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:35,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.320609] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:35,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.326099] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:35,660 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.16613449686441323 sec
2026-07-02 09:44:35,660 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:44:35,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.329106] moveTile loop end practicalMoveTime=0.166 (+3.0 ms)
2026-07-02 09:44:35,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.329541] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,670 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70cd0>
2026-07-02 09:44:35,676 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.8, V=254.9
2026-07-02 09:44:35,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.349926] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.44000000000005457 wallSteer=4.399999999999999 (+20.4 ms)
2026-07-02 09:44:35,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.372483] moveTile applied motor speed left=100 right=96 (+22.6 ms)
2026-07-02 09:44:35,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.376138] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:35,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.376650] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:35,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.383254] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:35,717 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3100000000000023 deg, practicalMoveTime: 0.2226701054310678 sec
2026-07-02 09:44:35,718 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.1 ms
2026-07-02 09:44:35,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.386203] moveTile loop end practicalMoveTime=0.223 (+2.9 ms)
2026-07-02 09:44:35,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.386629] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,724 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71550>
2026-07-02 09:44:35,730 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.9, V=255.0
2026-07-02 09:44:35,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.403188] moveTile calculated motor speeds left=100 right=97 gyroSteer=-5.0 wallSteer=7.199999999999999 (+16.6 ms)
2026-07-02 09:44:35,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.423734] moveTile applied motor speed left=100 right=97 (+20.5 ms)
2026-07-02 09:44:35,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.430026] moveTile tile color check tempTileColor=E (+6.3 ms)
2026-07-02 09:44:35,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.431496] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:44:35,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.436281] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:35,769 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9600000000000364 deg, practicalMoveTime: 0.2740771400268496 sec
2026-07-02 09:44:35,770 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:44:35,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.438198] moveTile loop end practicalMoveTime=0.274 (+1.9 ms)
2026-07-02 09:44:35,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.438565] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,783 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:35,791 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.8, V=255.0
2026-07-02 09:44:35,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.464216] moveTile calculated motor speeds left=100 right=96 gyroSteer=-7.920000000000073 wallSteer=11.2 (+25.7 ms)
2026-07-02 09:44:35,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.485150] moveTile applied motor speed left=100 right=96 (+20.9 ms)
2026-07-02 09:44:35,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.489725] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:44:35,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.490637] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:35,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.494947] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:35,828 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.25 deg, practicalMoveTime: 0.3326257484066983 sec
2026-07-02 09:44:35,829 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:44:35,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.497826] moveTile loop end practicalMoveTime=0.333 (+2.9 ms)
2026-07-02 09:44:35,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.498248] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,837 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71790>
2026-07-02 09:44:35,843 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:35,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.517717] moveTile calculated motor speeds left=89 right=100 gyroSteer=-12.440000000000055 wallSteer=2.0 (+19.5 ms)
2026-07-02 09:44:35,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.537420] moveTile applied motor speed left=89 right=100 (+19.7 ms)
2026-07-02 09:44:35,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.541084] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:35,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.541784] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:35,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.546321] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:35,879 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.2900000000000205 deg, practicalMoveTime: 0.3826474710689447 sec
2026-07-02 09:44:35,880 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.5 ms
2026-07-02 09:44:35,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.548307] moveTile loop end practicalMoveTime=0.383 (+2.0 ms)
2026-07-02 09:44:35,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.548676] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,887 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cfa5f50>
2026-07-02 09:44:35,893 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=255.0, V=255.0
2026-07-02 09:44:35,900 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.567984] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.920000000000073 wallSteer=0.8000000000000007 (+19.3 ms)
2026-07-02 09:44:35,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.588871] moveTile applied motor speed left=94 right=100 (+20.9 ms)
2026-07-02 09:44:35,925 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.592922] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:35,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.593495] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:35,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.599024] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:35,933 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.35000000000002274 deg, practicalMoveTime: 0.4353074306114184 sec
2026-07-02 09:44:35,933 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:44:35,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.601696] moveTile loop end practicalMoveTime=0.435 (+2.7 ms)
2026-07-02 09:44:35,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.602061] moveTile loop start (+0.4 ms)
2026-07-02 09:44:35,943 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:44:35,950 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:35,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.630250] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.5599999999999454 wallSteer=-0.3999999999999986 (+28.2 ms)
2026-07-02 09:44:35,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.655313] moveTile applied motor speed left=96 right=100 (+25.1 ms)
2026-07-02 09:44:35,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.662122] moveTile tile color check tempTileColor=E (+6.8 ms)
2026-07-02 09:44:35,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.662861] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:36,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.668467] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:36,002 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.920000000000016 deg, practicalMoveTime: 0.5033289882245695 sec
2026-07-02 09:44:36,002 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 67.9 ms
2026-07-02 09:44:36,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.670533] moveTile loop end practicalMoveTime=0.503 (+2.1 ms)
2026-07-02 09:44:36,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.670911] moveTile loop start (+0.4 ms)
2026-07-02 09:44:36,010 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71790>
2026-07-02 09:44:36,017 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=255.0, V=255.0
2026-07-02 09:44:36,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.696536] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.0799999999999272 wallSteer=-0.3999999999999986 (+25.6 ms)
2026-07-02 09:44:36,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.717146] moveTile applied motor speed left=96 right=100 (+20.6 ms)
2026-07-02 09:44:36,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.720755] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:36,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.721276] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:36,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.726859] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:36,060 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7600000000000477 deg, practicalMoveTime: 0.5609997803342673 sec
2026-07-02 09:44:36,061 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:44:36,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.728896] moveTile loop end practicalMoveTime=0.561 (+2.0 ms)
2026-07-02 09:44:36,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.729257] moveTile loop start (+0.4 ms)
2026-07-02 09:44:36,068 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:36,074 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:36,079 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.746671] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.519999999999982 wallSteer=-0.8000000000000007 (+17.4 ms)
2026-07-02 09:44:36,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.766201] moveTile applied motor speed left=94 right=100 (+19.5 ms)
2026-07-02 09:44:36,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.770202] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:36,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.770744] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:36,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.775048] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:36,108 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.2900000000000205 deg, practicalMoveTime: 0.6084019459923415 sec
2026-07-02 09:44:36,109 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.3 ms
2026-07-02 09:44:36,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.777158] moveTile loop end practicalMoveTime=0.608 (+2.1 ms)
2026-07-02 09:44:36,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.778006] moveTile loop start (+0.8 ms)
2026-07-02 09:44:36,115 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:36,121 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=255.0, V=255.0
2026-07-02 09:44:36,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.794079] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.199999999999818 wallSteer=-0.40000000000000213 (+16.1 ms)
2026-07-02 09:44:36,146 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.813734] moveTile applied motor speed left=94 right=100 (+19.7 ms)
2026-07-02 09:44:36,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.817336] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:36,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.817900] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:36,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.822474] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:36,156 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4399999999999977 deg, practicalMoveTime: 0.6552753253860432 sec
2026-07-02 09:44:36,157 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 46.5 ms
2026-07-02 09:44:36,157 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.825043] moveTile loop end practicalMoveTime=0.655 (+2.6 ms)
2026-07-02 09:44:36,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.825415] moveTile loop start (+0.4 ms)
2026-07-02 09:44:36,162 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c0e9850>
2026-07-02 09:44:36,168 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:44:36,173 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.840888] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.3199999999999363 wallSteer=-0.40000000000000213 (+15.5 ms)
2026-07-02 09:44:36,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.862168] moveTile applied motor speed left=97 right=100 (+21.3 ms)
2026-07-02 09:44:36,198 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.865909] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:36,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.867246] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:44:36,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.874638] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:44:36,208 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9399999999999977 deg, practicalMoveTime: 0.7063057684938924 sec
2026-07-02 09:44:36,208 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:44:36,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.876929] moveTile loop end practicalMoveTime=0.706 (+2.3 ms)
2026-07-02 09:44:36,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.877334] moveTile loop start (+0.4 ms)
2026-07-02 09:44:36,215 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71050>
2026-07-02 09:44:36,221 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:44:36,226 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.894308] moveTile calculated motor speeds left=94 right=100 gyroSteer=-3.880000000000109 wallSteer=-1.1999999999999993 (+17.0 ms)
2026-07-02 09:44:36,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.913905] moveTile applied motor speed left=94 right=100 (+19.6 ms)
2026-07-02 09:44:36,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.917720] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:36,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.918287] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:36,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.924968] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:44:36,258 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0 deg, practicalMoveTime: 0.7559155020370492 sec
2026-07-02 09:44:36,259 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.1 ms
2026-07-02 09:44:36,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.926957] moveTile loop end practicalMoveTime=0.756 (+2.0 ms)
2026-07-02 09:44:36,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.927335] moveTile loop start (+0.4 ms)
2026-07-02 09:44:36,266 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70c90>
2026-07-02 09:44:36,273 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:44:36,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.953308] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.839999999999918 wallSteer=-0.8000000000000007 (+26.0 ms)
2026-07-02 09:44:36,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.974586] moveTile applied motor speed left=94 right=100 (+21.3 ms)
2026-07-02 09:44:36,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.980042] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:44:36,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.980560] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:36,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.987236] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:44:36,321 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0500000000000114 deg, practicalMoveTime: 0.8178681788256336 sec
2026-07-02 09:44:36,322 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.4 ms
2026-07-02 09:44:36,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.990419] moveTile loop end practicalMoveTime=0.818 (+3.2 ms)
2026-07-02 09:44:36,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [109.990823] moveTile loop start (+0.4 ms)
2026-07-02 09:44:36,328 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71650>
2026-07-02 09:44:36,334 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:44:36,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.009411] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.240000000000009 wallSteer=-1.6000000000000014 (+18.6 ms)
2026-07-02 09:44:36,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.034698] moveTile applied motor speed left=94 right=100 (+25.3 ms)
2026-07-02 09:44:36,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.040117] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:44:36,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.040808] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:36,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.049849] moveTile ramp check isBigRamp=False (+9.0 ms)
2026-07-02 09:44:36,383 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.6344971778256262 CM
2026-07-02 09:44:36,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.071029] moveTile finished by time control (+21.2 ms)
2026-07-02 09:44:36,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.071710] moveTile start final forward adjustment (+21.9 ms)
2026-07-02 09:44:36,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.101679] moveTile finished final forward adjustment (+30.0 ms)
2026-07-02 09:44:36,435 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.6344971778256262 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:36,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.103790] moveTile updated moved vertical distance 0.634 (+2.1 ms)
2026-07-02 09:44:36,590 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 16.99741081765865 cm
2026-07-02 09:44:36,591 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 37.68167265965778 cm
2026-07-02 09:44:36,594 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:44:36,595 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.341397970594763 cm
2026-07-02 09:44:36,597 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 53.92490157154106 cm
2026-07-02 09:44:36,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.265531] moveTile updated map and detected walls (+161.7 ms)
2026-07-02 09:44:36,601 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:36,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.269550] moveTile finished (+165.8 ms)
2026-07-02 09:44:36,640 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:44:36,673 - __main__ - [main.py:110] - INFO - Current position: (25, 21, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+   +
| E | U   U   U | E   @   U  
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | U  
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:36,680 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.EAST. Prioritizing this tile.
2026-07-02 09:44:36,684 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:36,686 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [110.353971] moveTile start direction=absDirection.EAST position=(25, 21, 0) front=absDirection.EAST
2026-07-02 09:44:36,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.360340] moveTile after initial toggle check (+6.4 ms)
2026-07-02 09:44:36,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.362570] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:44:36,695 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (25, 21, 0) facing absDirection.EAST
2026-07-02 09:44:36,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.363459] moveTile start heading change target=270 (+0.9 ms)
2026-07-02 09:44:36,723 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 271.53 target: 270
2026-07-02 09:44:36,748 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 271.53, diff: 1.5299999999999727
2026-07-02 09:44:36,794 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 271.36 deg
2026-07-02 09:44:36,795 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.462987] moveTile finished heading change (+99.5 ms)
2026-07-02 09:44:36,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.463485] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:36,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.463999] moveTile updated front direction (+0.5 ms)
2026-07-02 09:44:36,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.483834] moveTile stopped motors before alignment (+19.8 ms)
2026-07-02 09:44:36,958 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 16.876838756405363 cm
2026-07-02 09:44:36,959 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 38.05755114182929 cm
2026-07-02 09:44:36,962 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.309169279224635 cm
2026-07-02 09:44:36,963 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 52.932734543698025 cm
2026-07-02 09:44:36,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.632650] moveTile start position adjustment using LiDAR for back wall. (+148.8 ms)
2026-07-02 09:44:36,987 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:37,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [110.943534] moveTile finished backward adjustment (+310.9 ms)
2026-07-02 09:44:37,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.022836] moveTile ready for forward move (+79.3 ms)
2026-07-02 09:44:37,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.051955] moveTile initialized movement targetSteps=1 (+29.1 ms)
2026-07-02 09:44:37,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.053584] moveTile loop start (+1.6 ms)
2026-07-02 09:44:37,395 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70cd0>
2026-07-02 09:44:37,402 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=255.0, V=255.0
2026-07-02 09:44:37,409 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.077107] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.9200000000000728 wallSteer=-2.3999999999999986 (+23.5 ms)
2026-07-02 09:44:37,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.098208] moveTile applied motor speed left=96 right=100 (+21.1 ms)
2026-07-02 09:44:37,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.108137] moveTile tile color check tempTileColor=E (+9.9 ms)
2026-07-02 09:44:37,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.108927] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:37,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [111.113522] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:37,473 - mazeUtils.moveTile - [moveTile.py:1009] - INFO - Moving backward before dropping rescue kit
2026-07-02 09:44:37,865 - mazeUtils.moveTile - [moveTile.py:1018] - INFO - Detected victim info ahead: {<Side.LEFT: 0>: <UnitVStatus.U_VICTIM: 1>, <Side.RIGHT: 1>: <UnitVStatus.NOTHING: 0>}
2026-07-02 09:44:43,023 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 271.20000000000005 target: 271.20000000000005
2026-07-02 09:44:43,043 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 271.20000000000005, diff: 0.0
2026-07-02 09:44:43,087 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 271.20000000000005 deg
2026-07-02 09:44:43,480 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.27000000000003865 deg, practicalMoveTime: 0.0 sec
2026-07-02 09:44:43,481 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 6095.0 ms
2026-07-02 09:44:43,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.149439] moveTile loop end practicalMoveTime=0.000 (+6035.9 ms)
2026-07-02 09:44:43,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.149868] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,494 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:43,500 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:43,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.177236] moveTile calculated motor speeds left=100 right=86 gyroSteer=13.440000000000055 wallSteer=0.40000000000000213 (+27.4 ms)
2026-07-02 09:44:43,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.197519] moveTile applied motor speed left=100 right=86 (+20.3 ms)
2026-07-02 09:44:43,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.201843] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:43,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.202751] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:44:43,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.208087] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:44:43,541 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.5 deg, practicalMoveTime: 0.06038864974696838 sec
2026-07-02 09:44:43,542 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:44:43,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.210154] moveTile loop end practicalMoveTime=0.060 (+2.1 ms)
2026-07-02 09:44:43,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.210525] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,549 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:43,556 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:43,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.234880] moveTile calculated motor speeds left=100 right=88 gyroSteer=11.279999999999973 wallSteer=0.40000000000000213 (+24.4 ms)
2026-07-02 09:44:43,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.256943] moveTile applied motor speed left=100 right=88 (+22.1 ms)
2026-07-02 09:44:43,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.261986] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:44:43,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.262980] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:43,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.267726] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:44:43,601 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.11924000115528417 sec
2026-07-02 09:44:43,601 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:44:43,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.269717] moveTile loop end practicalMoveTime=0.119 (+2.0 ms)
2026-07-02 09:44:43,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.270116] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,608 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70ed0>
2026-07-02 09:44:43,616 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:43,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.291800] moveTile calculated motor speeds left=100 right=90 gyroSteer=13.599999999999909 wallSteer=-4.399999999999999 (+21.7 ms)
2026-07-02 09:44:43,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.313767] moveTile applied motor speed left=100 right=90 (+22.0 ms)
2026-07-02 09:44:43,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.317702] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:43,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.318689] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:43,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.325911] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:44:43,660 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.77000000000004 deg, practicalMoveTime: 0.17731162341041481 sec
2026-07-02 09:44:43,661 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:44:43,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.328891] moveTile loop end practicalMoveTime=0.177 (+3.0 ms)
2026-07-02 09:44:43,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.329306] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,667 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d90>
2026-07-02 09:44:43,673 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:44:43,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.347430] moveTile calculated motor speeds left=100 right=79 gyroSteer=20.079999999999927 wallSteer=0.0 (+18.1 ms)
2026-07-02 09:44:43,703 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.371015] moveTile applied motor speed left=100 right=79 (+23.6 ms)
2026-07-02 09:44:43,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.375812] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:43,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.377319] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:44:43,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.382123] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:43,715 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.44 deg, practicalMoveTime: 0.23193500228146205 sec
2026-07-02 09:44:43,716 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:44:43,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.384339] moveTile loop end practicalMoveTime=0.232 (+2.2 ms)
2026-07-02 09:44:43,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.384831] moveTile loop start (+0.5 ms)
2026-07-02 09:44:43,722 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:43,727 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:43,734 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.401424] moveTile calculated motor speeds left=100 right=85 gyroSteer=17.279999999999973 wallSteer=-3.1999999999999993 (+16.6 ms)
2026-07-02 09:44:43,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.422425] moveTile applied motor speed left=100 right=85 (+21.0 ms)
2026-07-02 09:44:43,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.426061] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:43,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.426807] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:43,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.436914] moveTile ramp check isBigRamp=False (+10.1 ms)
2026-07-02 09:44:43,770 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.32000000000005 deg, practicalMoveTime: 0.28609559729715917 sec
2026-07-02 09:44:43,772 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:44:43,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.439970] moveTile loop end practicalMoveTime=0.286 (+3.1 ms)
2026-07-02 09:44:43,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.441617] moveTile loop start (+1.6 ms)
2026-07-02 09:44:43,779 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:44:43,786 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:43,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.463457] moveTile calculated motor speeds left=100 right=85 gyroSteer=16.11999999999989 wallSteer=-2.0 (+21.8 ms)
2026-07-02 09:44:43,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.483801] moveTile applied motor speed left=100 right=85 (+20.3 ms)
2026-07-02 09:44:43,820 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.488127] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:43,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.488819] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:43,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.496326] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:44:43,829 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6500000000000341 deg, practicalMoveTime: 0.34485937276431505 sec
2026-07-02 09:44:43,830 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.2 ms
2026-07-02 09:44:43,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.498354] moveTile loop end practicalMoveTime=0.345 (+2.0 ms)
2026-07-02 09:44:43,831 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.498741] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,838 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:43,845 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=255.0, V=255.0
2026-07-02 09:44:43,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.521200] moveTile calculated motor speeds left=100 right=87 gyroSteer=12.960000000000036 wallSteer=-0.8000000000000007 (+22.5 ms)
2026-07-02 09:44:43,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.541781] moveTile applied motor speed left=100 right=87 (+20.6 ms)
2026-07-02 09:44:43,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.545866] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:43,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.546658] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:43,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.551736] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:44:43,885 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.3996390961231368 sec
2026-07-02 09:44:43,886 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:44:43,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.554007] moveTile loop end practicalMoveTime=0.400 (+2.3 ms)
2026-07-02 09:44:43,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.554443] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,893 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71450>
2026-07-02 09:44:43,898 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:43,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.571059] moveTile calculated motor speeds left=100 right=86 gyroSteer=10.759999999999991 wallSteer=3.1999999999999993 (+16.6 ms)
2026-07-02 09:44:43,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.591287] moveTile applied motor speed left=100 right=86 (+20.2 ms)
2026-07-02 09:44:43,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.595771] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:43,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.596609] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:43,936 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.603457] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:44:43,936 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.32000000000005 deg, practicalMoveTime: 0.4506032750293805 sec
2026-07-02 09:44:43,937 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:44:43,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.605490] moveTile loop end practicalMoveTime=0.451 (+2.0 ms)
2026-07-02 09:44:43,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.605892] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,944 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70e90>
2026-07-02 09:44:43,950 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:43,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.622651] moveTile calculated motor speeds left=100 right=94 gyroSteer=6.2000000000000455 wallSteer=-0.8000000000000007 (+16.8 ms)
2026-07-02 09:44:43,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.643700] moveTile applied motor speed left=100 right=94 (+21.0 ms)
2026-07-02 09:44:43,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.647347] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:43,980 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.647878] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:43,984 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.652352] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:43,986 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.4992820341977705 sec
2026-07-02 09:44:43,986 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.3 ms
2026-07-02 09:44:43,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.654788] moveTile loop end practicalMoveTime=0.499 (+2.4 ms)
2026-07-02 09:44:43,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.655161] moveTile loop start (+0.4 ms)
2026-07-02 09:44:43,995 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:44:44,001 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:44:44,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.676906] moveTile calculated motor speeds left=100 right=97 gyroSteer=3.4400000000000546 wallSteer=-1.1999999999999993 (+21.7 ms)
2026-07-02 09:44:44,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.697710] moveTile applied motor speed left=100 right=97 (+20.8 ms)
2026-07-02 09:44:44,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.701669] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:44,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.702486] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:44,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.707664] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:44:44,041 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.36000000000001364 deg, practicalMoveTime: 0.5536032046600226 sec
2026-07-02 09:44:44,041 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:44:44,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.709689] moveTile loop end practicalMoveTime=0.554 (+2.0 ms)
2026-07-02 09:44:44,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.710049] moveTile loop start (+0.4 ms)
2026-07-02 09:44:44,049 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c0e9850>
2026-07-02 09:44:44,056 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:44,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.734473] moveTile calculated motor speeds left=100 right=90 gyroSteer=5.400000000000091 wallSteer=3.6000000000000014 (+24.4 ms)
2026-07-02 09:44:44,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.755623] moveTile applied motor speed left=100 right=90 (+21.2 ms)
2026-07-02 09:44:44,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.759300] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:44,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.760369] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:44,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.766066] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:44:44,099 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.45000000000005 deg, practicalMoveTime: 0.6113228753107054 sec
2026-07-02 09:44:44,100 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:44:44,100 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.767971] moveTile loop end practicalMoveTime=0.611 (+1.9 ms)
2026-07-02 09:44:44,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.768442] moveTile loop start (+0.5 ms)
2026-07-02 09:44:44,107 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71350>
2026-07-02 09:44:44,113 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.6, S=255.0, V=255.0
2026-07-02 09:44:44,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.792666] moveTile calculated motor speeds left=100 right=85 gyroSteer=9.160000000000082 wallSteer=5.600000000000001 (+24.2 ms)
2026-07-02 09:44:44,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.813106] moveTile applied motor speed left=100 right=85 (+20.4 ms)
2026-07-02 09:44:44,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.816901] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:44,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.817554] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:44,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.821966] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:44,155 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.6666342240750344 sec
2026-07-02 09:44:44,156 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:44:44,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.823914] moveTile loop end practicalMoveTime=0.667 (+1.9 ms)
2026-07-02 09:44:44,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.824375] moveTile loop start (+0.5 ms)
2026-07-02 09:44:44,164 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71790>
2026-07-02 09:44:44,170 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:44:44,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.844538] moveTile calculated motor speeds left=100 right=86 gyroSteer=7.800000000000182 wallSteer=5.199999999999999 (+20.2 ms)
2026-07-02 09:44:44,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.864606] moveTile applied motor speed left=100 right=86 (+20.1 ms)
2026-07-02 09:44:44,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.869327] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:44:44,202 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.869998] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:44,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.874321] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:44,207 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5300000000000296 deg, practicalMoveTime: 0.7183221039161592 sec
2026-07-02 09:44:44,208 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:44:44,208 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.876346] moveTile loop end practicalMoveTime=0.718 (+2.0 ms)
2026-07-02 09:44:44,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.876725] moveTile loop start (+0.4 ms)
2026-07-02 09:44:44,214 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:44,220 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.7, V=255.0
2026-07-02 09:44:44,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.893043] moveTile calculated motor speeds left=100 right=91 gyroSteer=4.800000000000182 wallSteer=3.1999999999999993 (+16.3 ms)
2026-07-02 09:44:44,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.912864] moveTile applied motor speed left=100 right=91 (+19.8 ms)
2026-07-02 09:44:44,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.916478] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:44,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.917035] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:44,256 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.924364] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:44:44,258 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.7687454452994401 sec
2026-07-02 09:44:44,259 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.1 ms
2026-07-02 09:44:44,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.927340] moveTile loop end practicalMoveTime=0.769 (+3.0 ms)
2026-07-02 09:44:44,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.927711] moveTile loop start (+0.4 ms)
2026-07-02 09:44:44,267 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:44,274 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=253.5, V=254.9
2026-07-02 09:44:44,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.948478] moveTile calculated motor speeds left=100 right=90 gyroSteer=4.440000000000055 wallSteer=5.199999999999999 (+20.8 ms)
2026-07-02 09:44:44,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.968767] moveTile applied motor speed left=100 right=90 (+20.3 ms)
2026-07-02 09:44:44,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.973143] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:44,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.973797] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:44,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.978292] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:44,312 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.8212070047230267 sec
2026-07-02 09:44:44,313 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:44:44,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.981488] moveTile loop end practicalMoveTime=0.821 (+3.2 ms)
2026-07-02 09:44:44,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [117.981903] moveTile loop start (+0.4 ms)
2026-07-02 09:44:44,319 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71350>
2026-07-02 09:44:44,327 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=251.0, V=254.9
2026-07-02 09:44:44,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.000864] moveTile calculated motor speeds left=100 right=90 gyroSteer=4.039999999999964 wallSteer=5.199999999999999 (+19.0 ms)
2026-07-02 09:44:44,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.023291] moveTile applied motor speed left=100 right=90 (+22.4 ms)
2026-07-02 09:44:44,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.029741] moveTile tile color check tempTileColor=E (+6.4 ms)
2026-07-02 09:44:44,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.031140] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:44:44,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.037763] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:44,371 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.07032309388826523 CM
2026-07-02 09:44:44,390 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.058126] moveTile finished by time control (+20.4 ms)
2026-07-02 09:44:44,391 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.058813] moveTile start final forward adjustment (+21.0 ms)
2026-07-02 09:44:44,427 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:44,446 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:14.0
2026-07-02 09:44:44,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.136101] moveTile finished final forward adjustment (+77.3 ms)
2026-07-02 09:44:44,469 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.07032309388826523 cm, past distances: [(0.6344971778256262, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:44,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.137654] moveTile updated moved vertical distance 0.070 (+1.6 ms)
2026-07-02 09:44:44,620 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 16.55956171215114 cm
2026-07-02 09:44:44,621 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 13.326593967004856 cm
2026-07-02 09:44:44,624 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:44:44,625 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 13.326593967004856 cm, TSD10 distance: 3.0 cm
2026-07-02 09:44:44,626 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 104.81287209881837 cm
2026-07-02 09:44:44,628 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 79.21260190154443 cm
2026-07-02 09:44:44,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.297209] moveTile updated map and detected walls (+159.6 ms)
2026-07-02 09:44:44,632 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:44,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.300756] moveTile finished (+163.1 ms)
2026-07-02 09:44:44,672 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 2)
2026-07-02 09:44:44,705 - __main__ - [main.py:110] - INFO - Current position: (26, 21, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   @ |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | U  
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:44,711 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (26, 22, 0)
2026-07-02 09:44:44,717 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:44,719 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [118.386637] moveTile start direction=absDirection.SOUTH position=(26, 21, 0) front=absDirection.EAST
2026-07-02 09:44:44,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.392191] moveTile after initial toggle check (+5.6 ms)
2026-07-02 09:44:44,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.394192] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.0 ms)
2026-07-02 09:44:44,727 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (26, 21, 0) facing absDirection.EAST
2026-07-02 09:44:44,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [118.395091] moveTile start heading change target=180 (+0.9 ms)
2026-07-02 09:44:44,755 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 268.63 target: 180
2026-07-02 09:44:45,759 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 184.94, diff: 4.939999999999998
2026-07-02 09:44:45,816 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.87 deg
2026-07-02 09:44:45,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.485136] moveTile finished heading change (+1090.0 ms)
2026-07-02 09:44:45,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.485650] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:45,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.486160] moveTile updated front direction (+0.5 ms)
2026-07-02 09:44:45,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.507694] moveTile stopped motors before alignment (+21.5 ms)
2026-07-02 09:44:46,011 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 20.015452105811274 cm
2026-07-02 09:44:46,012 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 15.797594727705862 cm
2026-07-02 09:44:46,014 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 100.54616969181235 cm
2026-07-02 09:44:46,016 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 75.87978427619285 cm
2026-07-02 09:44:46,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.685581] moveTile start position adjustment using LiDAR for back wall. (+177.9 ms)
2026-07-02 09:44:46,041 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:46,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.742433] moveTile finished backward adjustment (+56.9 ms)
2026-07-02 09:44:46,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.773588] moveTile ready for forward move (+31.2 ms)
2026-07-02 09:44:46,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.801326] moveTile initialized movement targetSteps=1 (+27.7 ms)
2026-07-02 09:44:46,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.802912] moveTile loop start (+1.6 ms)
2026-07-02 09:44:46,142 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71790>
2026-07-02 09:44:46,148 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.4, S=247.3, V=86.6
2026-07-02 09:44:46,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.821455] moveTile calculated motor speeds left=100 right=99 gyroSteer=-3.8799999999999955 wallSteer=4.800000000000001 (+18.5 ms)
2026-07-02 09:44:46,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.847851] moveTile applied motor speed left=100 right=99 (+26.4 ms)
2026-07-02 09:44:46,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.853257] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:44:46,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.853936] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:46,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.858493] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:46,192 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.05000000000001137 deg, practicalMoveTime: 0.05834362669490913 sec
2026-07-02 09:44:46,193 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:44:46,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.861707] moveTile loop end practicalMoveTime=0.058 (+3.2 ms)
2026-07-02 09:44:46,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.862277] moveTile loop start (+0.6 ms)
2026-07-02 09:44:46,201 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70ed0>
2026-07-02 09:44:46,209 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=109.9, S=248.9, V=96.8
2026-07-02 09:44:46,216 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.883778] moveTile calculated motor speeds left=100 right=98 gyroSteer=-3.3599999999999 wallSteer=5.199999999999999 (+21.5 ms)
2026-07-02 09:44:46,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.903772] moveTile applied motor speed left=100 right=98 (+20.0 ms)
2026-07-02 09:44:46,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.907731] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:46,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.908406] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:46,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.913850] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:44:46,247 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7200000000000273 deg, practicalMoveTime: 0.11192611713294259 sec
2026-07-02 09:44:46,247 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.0 ms
2026-07-02 09:44:46,248 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.915802] moveTile loop end practicalMoveTime=0.112 (+2.0 ms)
2026-07-02 09:44:46,248 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.916260] moveTile loop start (+0.5 ms)
2026-07-02 09:44:46,259 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:44:46,267 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.1, S=247.1, V=91.7
2026-07-02 09:44:46,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.941322] moveTile calculated motor speeds left=100 right=97 gyroSteer=-2.4400000000000546 wallSteer=5.199999999999999 (+25.1 ms)
2026-07-02 09:44:46,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.965722] moveTile applied motor speed left=100 right=97 (+24.4 ms)
2026-07-02 09:44:46,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.969528] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:46,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.970166] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:46,309 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.976911] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:44:46,310 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.25 deg, practicalMoveTime: 0.1744918101280113 sec
2026-07-02 09:44:46,311 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.4 ms
2026-07-02 09:44:46,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.979272] moveTile loop end practicalMoveTime=0.174 (+2.4 ms)
2026-07-02 09:44:46,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.980343] moveTile loop start (+1.1 ms)
2026-07-02 09:44:46,317 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71490>
2026-07-02 09:44:46,324 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.1, S=248.2, V=96.5
2026-07-02 09:44:46,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [119.999185] moveTile calculated motor speeds left=98 right=100 gyroSteer=-6.8799999999999955 wallSteer=5.600000000000001 (+18.8 ms)
2026-07-02 09:44:46,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.019562] moveTile applied motor speed left=98 right=100 (+20.4 ms)
2026-07-02 09:44:46,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.023315] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:46,356 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.024144] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:46,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.029178] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:44:46,362 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.22574756647951572 sec
2026-07-02 09:44:46,363 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:44:46,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.031057] moveTile loop end practicalMoveTime=0.226 (+1.9 ms)
2026-07-02 09:44:46,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.031444] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,373 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa717d0>
2026-07-02 09:44:46,380 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.6, S=253.3, V=83.6
2026-07-02 09:44:46,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.054052] moveTile calculated motor speeds left=95 right=100 gyroSteer=-7.7999999999999545 wallSteer=3.6000000000000014 (+22.6 ms)
2026-07-02 09:44:46,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.074197] moveTile applied motor speed left=95 right=100 (+20.1 ms)
2026-07-02 09:44:46,410 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.077905] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:44:46,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.078454] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:46,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.084858] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:44:46,419 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9300000000000068 deg, practicalMoveTime: 0.28153970032715037 sec
2026-07-02 09:44:46,419 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:44:46,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.087479] moveTile loop end practicalMoveTime=0.282 (+2.6 ms)
2026-07-02 09:44:46,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.087837] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,428 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa717d0>
2026-07-02 09:44:46,435 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.3, S=253.4, V=67.0
2026-07-02 09:44:46,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.108475] moveTile calculated motor speeds left=95 right=100 gyroSteer=-7.67999999999995 wallSteer=3.6000000000000014 (+20.6 ms)
2026-07-02 09:44:46,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.133134] moveTile applied motor speed left=95 right=100 (+24.7 ms)
2026-07-02 09:44:46,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.136763] moveTile tile color check tempTileColor=V (+3.6 ms)
2026-07-02 09:44:46,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.137293] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:46,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.142824] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:46,476 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.07000000000005 deg, practicalMoveTime: 0.3382052517643621 sec
2026-07-02 09:44:46,477 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:44:46,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.144850] moveTile loop end practicalMoveTime=0.338 (+2.0 ms)
2026-07-02 09:44:46,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.145211] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,483 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71310>
2026-07-02 09:44:46,488 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.2, S=254.1, V=70.9
2026-07-02 09:44:46,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.161321] moveTile calculated motor speeds left=99 right=100 gyroSteer=-6.399999999999977 wallSteer=5.600000000000001 (+16.1 ms)
2026-07-02 09:44:46,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.184368] moveTile applied motor speed left=99 right=100 (+23.0 ms)
2026-07-02 09:44:46,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.188422] moveTile tile color check tempTileColor=V (+4.1 ms)
2026-07-02 09:44:46,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.189030] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:46,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.193843] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:46,527 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2200000000000273 deg, practicalMoveTime: 0.3889187362489662 sec
2026-07-02 09:44:46,528 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:44:46,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.196313] moveTile loop end practicalMoveTime=0.389 (+2.5 ms)
2026-07-02 09:44:46,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.196685] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,538 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d50>
2026-07-02 09:44:46,545 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.8, S=254.2, V=92.0
2026-07-02 09:44:46,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.219204] moveTile calculated motor speeds left=85 right=100 gyroSteer=-8.240000000000009 wallSteer=-6.0 (+22.5 ms)
2026-07-02 09:44:46,572 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.239770] moveTile applied motor speed left=85 right=100 (+20.6 ms)
2026-07-02 09:44:46,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.245265] moveTile tile color check tempTileColor=V (+5.5 ms)
2026-07-02 09:44:46,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.246054] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:46,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.251836] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:46,585 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.1299999999999955 deg, practicalMoveTime: 0.44585259067164745 sec
2026-07-02 09:44:46,586 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:44:46,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.254491] moveTile loop end practicalMoveTime=0.446 (+2.7 ms)
2026-07-02 09:44:46,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.255027] moveTile loop start (+0.5 ms)
2026-07-02 09:44:46,593 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d50>
2026-07-02 09:44:46,599 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.7, S=251.5, V=61.0
2026-07-02 09:44:46,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.273193] moveTile calculated motor speeds left=91 right=100 gyroSteer=-7.720000000000027 wallSteer=-0.8000000000000007 (+18.2 ms)
2026-07-02 09:44:46,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.294020] moveTile applied motor speed left=91 right=100 (+20.8 ms)
2026-07-02 09:44:46,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.297859] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:44:46,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.298631] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:46,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.306619] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:44:46,640 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1899999999999977 deg, practicalMoveTime: 0.4994005808334822 sec
2026-07-02 09:44:46,641 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:44:46,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.309353] moveTile loop end practicalMoveTime=0.499 (+2.7 ms)
2026-07-02 09:44:46,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.309754] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,653 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa712d0>
2026-07-02 09:44:46,659 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.4, S=253.4, V=62.7
2026-07-02 09:44:46,664 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.331478] moveTile calculated motor speeds left=90 right=100 gyroSteer=-6.240000000000009 wallSteer=-3.6000000000000014 (+21.7 ms)
2026-07-02 09:44:46,690 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.357792] moveTile applied motor speed left=90 right=100 (+26.3 ms)
2026-07-02 09:44:46,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.362215] moveTile tile color check tempTileColor=V (+4.4 ms)
2026-07-02 09:44:46,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.362897] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:46,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.366478] moveTile ramp check isBigRamp=False (+3.6 ms)
2026-07-02 09:44:46,700 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6899999999999977 deg, practicalMoveTime: 0.5580284225964035 sec
2026-07-02 09:44:46,701 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:44:46,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.369907] moveTile loop end practicalMoveTime=0.558 (+3.4 ms)
2026-07-02 09:44:46,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.370366] moveTile loop start (+0.5 ms)
2026-07-02 09:44:46,707 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d50>
2026-07-02 09:44:46,714 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.6, S=254.3, V=72.1
2026-07-02 09:44:46,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.391722] moveTile calculated motor speeds left=94 right=100 gyroSteer=-0.8799999999999955 wallSteer=-4.399999999999999 (+21.4 ms)
2026-07-02 09:44:46,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.419903] moveTile applied motor speed left=94 right=100 (+28.2 ms)
2026-07-02 09:44:46,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.424574] moveTile tile color check tempTileColor=V (+4.7 ms)
2026-07-02 09:44:46,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.425215] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:46,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.430714] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:44:46,764 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3300000000000409 deg, practicalMoveTime: 0.6210960048277887 sec
2026-07-02 09:44:46,765 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.4 ms
2026-07-02 09:44:46,765 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.433328] moveTile loop end practicalMoveTime=0.621 (+2.6 ms)
2026-07-02 09:44:46,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.433692] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,772 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70dd0>
2026-07-02 09:44:46,778 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.5, S=254.6, V=74.5
2026-07-02 09:44:46,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.453203] moveTile calculated motor speeds left=92 right=100 gyroSteer=-2.67999999999995 wallSteer=-5.199999999999999 (+19.5 ms)
2026-07-02 09:44:46,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.473446] moveTile applied motor speed left=92 right=100 (+20.2 ms)
2026-07-02 09:44:46,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.477783] moveTile tile color check tempTileColor=V (+4.3 ms)
2026-07-02 09:44:46,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.478420] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:46,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.484046] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:46,818 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.170000000000016 deg, practicalMoveTime: 0.6734990418644936 sec
2026-07-02 09:44:46,818 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:44:46,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.486395] moveTile loop end practicalMoveTime=0.673 (+2.3 ms)
2026-07-02 09:44:46,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.486752] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,825 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa70d90>
2026-07-02 09:44:46,831 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.2, S=254.7, V=85.0
2026-07-02 09:44:46,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.505542] moveTile calculated motor speeds left=96 right=100 gyroSteer=0.9200000000000728 wallSteer=-4.800000000000001 (+18.8 ms)
2026-07-02 09:44:46,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.532182] moveTile applied motor speed left=96 right=100 (+26.6 ms)
2026-07-02 09:44:46,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.537319] moveTile tile color check tempTileColor=V (+5.1 ms)
2026-07-02 09:44:46,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.538487] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:46,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.546543] moveTile ramp check isBigRamp=False (+8.1 ms)
2026-07-02 09:44:46,880 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.28000000000002956 deg, practicalMoveTime: 0.7351261708050947 sec
2026-07-02 09:44:46,881 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.1 ms
2026-07-02 09:44:46,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.549509] moveTile loop end practicalMoveTime=0.735 (+3.0 ms)
2026-07-02 09:44:46,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.549926] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,891 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:46,898 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.8, S=254.4, V=90.7
2026-07-02 09:44:46,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.570438] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.2799999999999727 wallSteer=-4.800000000000001 (+20.5 ms)
2026-07-02 09:44:46,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.591343] moveTile applied motor speed left=96 right=100 (+20.9 ms)
2026-07-02 09:44:46,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.596606] moveTile tile color check tempTileColor=V (+5.3 ms)
2026-07-02 09:44:46,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.597176] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:46,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.602539] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:44:46,936 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8000000000000114 deg, practicalMoveTime: 0.7897111444290413 sec
2026-07-02 09:44:46,937 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:44:46,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.605061] moveTile loop end practicalMoveTime=0.790 (+2.5 ms)
2026-07-02 09:44:46,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.605437] moveTile loop start (+0.4 ms)
2026-07-02 09:44:46,944 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71350>
2026-07-02 09:44:46,950 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.8, S=254.7, V=93.7
2026-07-02 09:44:46,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.623997] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.3600000000000136 wallSteer=-4.0 (+18.6 ms)
2026-07-02 09:44:46,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.648928] moveTile applied motor speed left=99 right=100 (+24.9 ms)
2026-07-02 09:44:46,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.652597] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:44:46,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.653143] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:46,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.658553] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:44:46,992 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7200000000000273 deg, practicalMoveTime: 0.8446072175147711 sec
2026-07-02 09:44:46,993 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:44:46,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.661382] moveTile loop end practicalMoveTime=0.845 (+2.8 ms)
2026-07-02 09:44:46,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.661799] moveTile loop start (+0.4 ms)
2026-07-02 09:44:47,003 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71610>
2026-07-02 09:44:47,010 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=111.3, S=254.6, V=92.8
2026-07-02 09:44:47,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.685680] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.680000000000064 wallSteer=-4.400000000000002 (+23.9 ms)
2026-07-02 09:44:47,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.705155] moveTile applied motor speed left=100 right=99 (+19.5 ms)
2026-07-02 09:44:47,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.708774] moveTile tile color check tempTileColor=V (+3.6 ms)
2026-07-02 09:44:47,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.709319] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:47,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.715271] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:44:47,048 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.5821580933617271 CM
2026-07-02 09:44:47,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.742830] moveTile finished by time control (+27.6 ms)
2026-07-02 09:44:47,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.743582] moveTile start final forward adjustment (+28.3 ms)
2026-07-02 09:44:47,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.773554] moveTile finished final forward adjustment (+30.0 ms)
2026-07-02 09:44:47,107 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.5821580933617271 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:44:47,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.775231] moveTile updated moved vertical distance 0.582 (+1.7 ms)
2026-07-02 09:44:47,259 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 52.6771402040354 cm
2026-07-02 09:44:47,260 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 16.99741081765865 cm
2026-07-02 09:44:47,262 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 69.57020061288138 cm
2026-07-02 09:44:47,265 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:44:47,267 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 13.997867732189478 cm
2026-07-02 09:44:47,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [120.936291] moveTile updated map and detected walls (+161.1 ms)
2026-07-02 09:44:47,271 - mazeUtils.mazeMap - [mazeMap.py:445] - DEBUG - Silver tile detected, saving cache
2026-07-02 09:44:47,915 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: V
2026-07-02 09:44:47,921 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (26, 22, 0), Tile type: V, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:44:47,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [121.590065] moveTile finished (+814.8 ms)
2026-07-02 09:44:47,964 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:44:47,994 - __main__ - [main.py:110] - INFO - Current position: (26, 22, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | @ |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:48,006 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 23, 0)
2026-07-02 09:44:48,010 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:44:48,012 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [121.679663] moveTile start direction=absDirection.NORTH position=(26, 22, 0) front=absDirection.SOUTH
2026-07-02 09:44:48,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [121.686685] moveTile after initial toggle check (+7.0 ms)
2026-07-02 09:44:48,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [121.688898] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:44:48,022 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (26, 22, 0) facing absDirection.SOUTH
2026-07-02 09:44:48,022 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [121.690159] moveTile start heading change target=0 (+1.3 ms)
2026-07-02 09:44:48,050 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 180.35000000000002 target: 0
2026-07-02 09:44:50,535 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 354.52, diff: 5.480000000000018
2026-07-02 09:44:50,585 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 359.13 deg
2026-07-02 09:44:50,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.253537] moveTile finished heading change (+2563.4 ms)
2026-07-02 09:44:50,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.254006] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:50,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.254455] moveTile updated front direction (+0.4 ms)
2026-07-02 09:44:50,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.277617] moveTile stopped motors before alignment (+23.2 ms)
2026-07-02 09:44:50,762 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 43.89438610989544 cm
2026-07-02 09:44:50,766 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 14.491166991776888 cm
2026-07-02 09:44:50,767 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 78.40853282826023 cm
2026-07-02 09:44:50,769 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.736070167905087 cm
2026-07-02 09:44:50,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.437866] moveTile start position adjustment using LiDAR for front wall. (+160.2 ms)
2026-07-02 09:44:50,791 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:51,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.671775] moveTile finished backward adjustment (+233.9 ms)
2026-07-02 09:44:51,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.750741] moveTile ready for forward move (+79.0 ms)
2026-07-02 09:44:51,114 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:44:51,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.782885] moveTile initialized movement targetSteps=1 (+32.1 ms)
2026-07-02 09:44:51,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.784133] moveTile loop start (+1.2 ms)
2026-07-02 09:44:51,124 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:51,130 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.0, S=255.0, V=233.0
2026-07-02 09:44:51,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.803137] moveTile calculated motor speeds left=100 right=86 gyroSteer=16.680000000000064 wallSteer=-3.6000000000000014 (+19.0 ms)
2026-07-02 09:44:51,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.822406] moveTile applied motor speed left=100 right=86 (+19.3 ms)
2026-07-02 09:44:51,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.828391] moveTile tile color check tempTileColor=V (+6.0 ms)
2026-07-02 09:44:51,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.829074] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:51,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.835837] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:44:51,169 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3000000000000114 deg, practicalMoveTime: 0.05459071399463851 sec
2026-07-02 09:44:51,170 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:44:51,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.838087] moveTile loop end practicalMoveTime=0.055 (+2.2 ms)
2026-07-02 09:44:51,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.838502] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,177 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:44:51,183 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.0, S=255.0, V=236.6
2026-07-02 09:44:51,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.858584] moveTile calculated motor speeds left=100 right=91 gyroSteer=16.720000000000027 wallSteer=-8.400000000000002 (+20.1 ms)
2026-07-02 09:44:51,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.879980] moveTile applied motor speed left=100 right=91 (+21.4 ms)
2026-07-02 09:44:51,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.884549] moveTile tile color check tempTileColor=V (+4.6 ms)
2026-07-02 09:44:51,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.885266] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:51,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.889584] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:51,223 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.660000000000025 deg, practicalMoveTime: 0.10760552802430273 sec
2026-07-02 09:44:51,223 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:44:51,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.891813] moveTile loop end practicalMoveTime=0.108 (+2.2 ms)
2026-07-02 09:44:51,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.892305] moveTile loop start (+0.5 ms)
2026-07-02 09:44:51,230 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:51,236 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=252.2
2026-07-02 09:44:51,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.911473] moveTile calculated motor speeds left=100 right=88 gyroSteer=14.839999999999918 wallSteer=-3.6000000000000014 (+19.2 ms)
2026-07-02 09:44:51,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.934057] moveTile applied motor speed left=100 right=88 (+22.6 ms)
2026-07-02 09:44:51,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.937735] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:44:51,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.938819] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:51,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.943388] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:51,277 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37000000000000455 deg, practicalMoveTime: 0.16075006693390184 sec
2026-07-02 09:44:51,277 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:44:51,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.945410] moveTile loop end practicalMoveTime=0.161 (+2.0 ms)
2026-07-02 09:44:51,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.945771] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,284 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:51,290 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:51,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.965142] moveTile calculated motor speeds left=100 right=90 gyroSteer=13.120000000000118 wallSteer=-3.200000000000003 (+19.4 ms)
2026-07-02 09:44:51,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.985216] moveTile applied motor speed left=100 right=90 (+20.1 ms)
2026-07-02 09:44:51,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.990146] moveTile tile color check tempTileColor=V (+4.9 ms)
2026-07-02 09:44:51,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.991224] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:51,328 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.995619] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:51,329 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.25 deg, practicalMoveTime: 0.2122586308052392 sec
2026-07-02 09:44:51,329 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:44:51,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.997589] moveTile loop end practicalMoveTime=0.212 (+2.0 ms)
2026-07-02 09:44:51,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [124.997957] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,337 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe702d0>
2026-07-02 09:44:51,342 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:44:51,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.015851] moveTile calculated motor speeds left=100 right=96 gyroSteer=11.279999999999973 wallSteer=-7.599999999999998 (+17.9 ms)
2026-07-02 09:44:51,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.035092] moveTile applied motor speed left=100 right=96 (+19.2 ms)
2026-07-02 09:44:51,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.038812] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:44:51,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.039620] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:51,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.047023] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:44:51,380 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7900000000000205 deg, practicalMoveTime: 0.26302344152261764 sec
2026-07-02 09:44:51,381 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:44:51,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.049726] moveTile loop end practicalMoveTime=0.263 (+2.7 ms)
2026-07-02 09:44:51,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.050396] moveTile loop start (+0.7 ms)
2026-07-02 09:44:51,388 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:51,394 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:44:51,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.068760] moveTile calculated motor speeds left=100 right=96 gyroSteer=7.039999999999964 wallSteer=-3.6000000000000014 (+18.4 ms)
2026-07-02 09:44:51,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.090766] moveTile applied motor speed left=100 right=96 (+22.0 ms)
2026-07-02 09:44:51,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.095490] moveTile tile color check tempTileColor=V (+4.7 ms)
2026-07-02 09:44:51,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.096948] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:44:51,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.102768] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:44:51,436 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.3176213007229478 sec
2026-07-02 09:44:51,437 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:44:51,437 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.104938] moveTile loop end practicalMoveTime=0.318 (+2.2 ms)
2026-07-02 09:44:51,437 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.105370] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,444 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:51,452 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:51,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.124552] moveTile calculated motor speeds left=100 right=94 gyroSteer=8.920000000000073 wallSteer=-3.200000000000003 (+19.2 ms)
2026-07-02 09:44:51,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.147032] moveTile applied motor speed left=100 right=94 (+22.5 ms)
2026-07-02 09:44:51,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.150800] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:44:51,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.151396] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:51,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.156509] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:44:51,490 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9200000000000159 deg, practicalMoveTime: 0.3708018145690073 sec
2026-07-02 09:44:51,491 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:44:51,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.158982] moveTile loop end practicalMoveTime=0.371 (+2.5 ms)
2026-07-02 09:44:51,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.159431] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,499 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:51,505 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:51,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.177747] moveTile calculated motor speeds left=100 right=98 gyroSteer=3.9600000000000364 wallSteer=-2.8000000000000007 (+18.3 ms)
2026-07-02 09:44:51,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.200420] moveTile applied motor speed left=100 right=98 (+22.7 ms)
2026-07-02 09:44:51,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.204212] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:51,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.204782] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:51,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.211466] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:44:51,545 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6800000000000068 deg, practicalMoveTime: 0.42538072855763226 sec
2026-07-02 09:44:51,547 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:44:51,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.214917] moveTile loop end practicalMoveTime=0.425 (+3.5 ms)
2026-07-02 09:44:51,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.215307] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,554 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:44:51,559 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:51,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.233354] moveTile calculated motor speeds left=95 right=100 gyroSteer=2.519999999999982 wallSteer=-7.199999999999999 (+18.0 ms)
2026-07-02 09:44:51,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.253461] moveTile applied motor speed left=95 right=100 (+20.1 ms)
2026-07-02 09:44:51,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.257931] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:44:51,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.258708] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:51,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.263350] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:51,596 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3700000000000045 deg, practicalMoveTime: 0.47515806988528775 sec
2026-07-02 09:44:51,597 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.5 ms
2026-07-02 09:44:51,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.265946] moveTile loop end practicalMoveTime=0.475 (+2.6 ms)
2026-07-02 09:44:51,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.266540] moveTile loop start (+0.6 ms)
2026-07-02 09:44:51,606 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:44:51,615 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:51,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.287755] moveTile calculated motor speeds left=97 right=100 gyroSteer=5.079999999999927 wallSteer=-7.199999999999999 (+21.2 ms)
2026-07-02 09:44:51,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.309328] moveTile applied motor speed left=97 right=100 (+21.6 ms)
2026-07-02 09:44:51,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.315652] moveTile tile color check tempTileColor=E (+6.3 ms)
2026-07-02 09:44:51,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.316713] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:51,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.321125] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:51,654 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1400000000000432 deg, practicalMoveTime: 0.5322318080544292 sec
2026-07-02 09:44:51,655 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:44:51,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.323250] moveTile loop end practicalMoveTime=0.532 (+2.1 ms)
2026-07-02 09:44:51,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.324229] moveTile loop start (+1.0 ms)
2026-07-02 09:44:51,661 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe702d0>
2026-07-02 09:44:51,668 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:51,675 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.343048] moveTile calculated motor speeds left=100 right=95 gyroSteer=8.240000000000009 wallSteer=-4.0 (+18.8 ms)
2026-07-02 09:44:51,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.365544] moveTile applied motor speed left=100 right=95 (+22.5 ms)
2026-07-02 09:44:51,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.369723] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:51,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.370354] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:51,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.376538] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:44:51,710 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8100000000000023 deg, practicalMoveTime: 0.5870513970108241 sec
2026-07-02 09:44:51,710 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:44:51,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.378619] moveTile loop end practicalMoveTime=0.587 (+2.1 ms)
2026-07-02 09:44:51,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.378990] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,719 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:51,725 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:51,731 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.398970] moveTile calculated motor speeds left=99 right=100 gyroSteer=7.2000000000000455 wallSteer=-8.0 (+20.0 ms)
2026-07-02 09:44:51,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.421913] moveTile applied motor speed left=99 right=100 (+22.9 ms)
2026-07-02 09:44:51,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.425762] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:51,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.427896] moveTile obstacle check escapeFlag=False (+2.1 ms)
2026-07-02 09:44:51,767 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.434868] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:44:51,768 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.170000000000016 deg, practicalMoveTime: 0.64468279258599 sec
2026-07-02 09:44:51,769 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:44:51,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.437333] moveTile loop end practicalMoveTime=0.645 (+2.5 ms)
2026-07-02 09:44:51,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.437847] moveTile loop start (+0.5 ms)
2026-07-02 09:44:51,775 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:51,781 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.8, S=255.0, V=255.0
2026-07-02 09:44:51,786 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.454162] moveTile calculated motor speeds left=95 right=100 gyroSteer=3.3600000000001273 wallSteer=-7.600000000000001 (+16.3 ms)
2026-07-02 09:44:51,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.474307] moveTile applied motor speed left=95 right=100 (+20.1 ms)
2026-07-02 09:44:51,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.478739] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:51,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.479446] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:51,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.483817] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:51,817 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0900000000000318 deg, practicalMoveTime: 0.6927445248759909 sec
2026-07-02 09:44:51,818 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.5 ms
2026-07-02 09:44:51,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.485869] moveTile loop end practicalMoveTime=0.693 (+2.1 ms)
2026-07-02 09:44:51,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.486385] moveTile loop start (+0.5 ms)
2026-07-02 09:44:51,824 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:51,830 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=254.9, V=255.0
2026-07-02 09:44:51,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.505026] moveTile calculated motor speeds left=96 right=100 gyroSteer=5.120000000000118 wallSteer=-8.8 (+18.6 ms)
2026-07-02 09:44:51,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.526239] moveTile applied motor speed left=96 right=100 (+21.2 ms)
2026-07-02 09:44:51,862 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.530360] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:44:51,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.531059] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:51,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.538878] moveTile ramp check isBigRamp=False (+7.8 ms)
2026-07-02 09:44:51,872 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.7471806009637115 sec
2026-07-02 09:44:51,873 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:44:51,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.541811] moveTile loop end practicalMoveTime=0.747 (+2.9 ms)
2026-07-02 09:44:51,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.542234] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,882 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:44:51,888 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=255.0, V=255.0
2026-07-02 09:44:51,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.563122] moveTile calculated motor speeds left=93 right=100 gyroSteer=2.5599999999999454 wallSteer=-8.8 (+20.9 ms)
2026-07-02 09:44:51,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.581997] moveTile applied motor speed left=93 right=100 (+18.9 ms)
2026-07-02 09:44:51,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.585641] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:51,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.586298] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:51,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.591929] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:44:51,925 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9800000000000182 deg, practicalMoveTime: 0.7989430002249392 sec
2026-07-02 09:44:51,926 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:44:51,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.593952] moveTile loop end practicalMoveTime=0.799 (+2.0 ms)
2026-07-02 09:44:51,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.594319] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,933 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a550>
2026-07-02 09:44:51,939 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.0, S=253.5, V=254.9
2026-07-02 09:44:51,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.613356] moveTile calculated motor speeds left=97 right=100 gyroSteer=4.720000000000027 wallSteer=-6.800000000000001 (+19.0 ms)
2026-07-02 09:44:51,971 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.638408] moveTile applied motor speed left=97 right=100 (+25.1 ms)
2026-07-02 09:44:51,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.642055] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:51,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.642631] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:51,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.648682] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:44:51,982 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.82000000000005 deg, practicalMoveTime: 0.8554374104612191 sec
2026-07-02 09:44:51,983 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:44:51,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.651121] moveTile loop end practicalMoveTime=0.855 (+2.4 ms)
2026-07-02 09:44:51,984 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.651533] moveTile loop start (+0.4 ms)
2026-07-02 09:44:51,989 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:51,996 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=253.0, V=254.9
2026-07-02 09:44:52,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.671217] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.7200000000000273 wallSteer=-6.800000000000001 (+19.7 ms)
2026-07-02 09:44:52,022 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.689763] moveTile applied motor speed left=96 right=100 (+18.5 ms)
2026-07-02 09:44:52,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.694563] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:52,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.695368] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:52,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.701987] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:44:52,035 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.6055562989450815 CM
2026-07-02 09:44:52,055 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.722392] moveTile finished by time control (+20.4 ms)
2026-07-02 09:44:52,055 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.723097] moveTile start final forward adjustment (+21.1 ms)
2026-07-02 09:44:52,085 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:52,102 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:15.8
2026-07-02 09:44:52,176 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:14.0
2026-07-02 09:44:52,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [125.863500] moveTile finished final forward adjustment (+140.4 ms)
2026-07-02 09:44:52,345 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 13.267602058725904 cm
2026-07-02 09:44:52,348 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 13.267602058725904 cm, TSD10 distance: 2.6 cm
2026-07-02 09:44:52,349 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 14.914093377826779 cm
2026-07-02 09:44:52,350 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 108.48560414226357 cm
2026-07-02 09:44:52,351 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 77.5266300100059 cm
2026-07-02 09:44:52,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [126.019352] moveTile updated map and detected walls (+155.9 ms)
2026-07-02 09:44:52,354 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:52,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [126.023177] moveTile finished (+159.7 ms)
2026-07-02 09:44:52,399 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, None)
2026-07-02 09:44:52,429 - __main__ - [main.py:110] - INFO - Current position: (26, 21, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   @ |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:52,438 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [126.105705] moveTile start direction=absDirection.WEST position=(26, 21, 0) front=absDirection.NORTH
2026-07-02 09:44:52,445 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [126.113006] moveTile after initial toggle check (+7.3 ms)
2026-07-02 09:44:52,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [126.115932] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.9 ms)
2026-07-02 09:44:52,449 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (26, 21, 0) facing absDirection.NORTH
2026-07-02 09:44:52,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [126.116923] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:44:52,474 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 1.420000000000016 target: 90
2026-07-02 09:44:53,449 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 84.92000000000002, diff: 5.079999999999984
2026-07-02 09:44:53,508 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 88.81 deg
2026-07-02 09:44:53,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.176567] moveTile finished heading change (+1059.6 ms)
2026-07-02 09:44:53,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.177078] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:53,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.177593] moveTile updated front direction (+0.5 ms)
2026-07-02 09:44:53,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.198837] moveTile stopped motors before alignment (+21.2 ms)
2026-07-02 09:44:53,689 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 16.200000762939453 cm
2026-07-02 09:44:53,691 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 18.343061809373594 cm
2026-07-02 09:44:53,692 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 104.92205237375292 cm
2026-07-02 09:44:53,693 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 72.77217947069974 cm
2026-07-02 09:44:53,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.363061] moveTile start position adjustment using LiDAR for back wall. (+164.2 ms)
2026-07-02 09:44:53,717 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:53,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.655146] moveTile finished backward adjustment (+292.1 ms)
2026-07-02 09:44:54,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.732888] moveTile ready for forward move (+77.7 ms)
2026-07-02 09:44:54,094 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:44:54,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.762962] moveTile initialized movement targetSteps=1 (+30.1 ms)
2026-07-02 09:44:54,096 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.764252] moveTile loop start (+1.3 ms)
2026-07-02 09:44:54,106 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6deabed0>
2026-07-02 09:44:54,112 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:44:54,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.784823] moveTile calculated motor speeds left=100 right=95 gyroSteer=9.720000000000027 wallSteer=-4.800000000000001 (+20.6 ms)
2026-07-02 09:44:54,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.804458] moveTile applied motor speed left=100 right=95 (+19.6 ms)
2026-07-02 09:44:54,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.810840] moveTile tile color check tempTileColor=E (+6.4 ms)
2026-07-02 09:44:54,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.812442] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:44:54,159 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.826897] moveTile ramp check isBigRamp=False (+14.5 ms)
2026-07-02 09:44:54,162 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.74 deg, practicalMoveTime: 0.06701448105939839 sec
2026-07-02 09:44:54,164 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 67.0 ms
2026-07-02 09:44:54,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.832139] moveTile loop end practicalMoveTime=0.067 (+5.2 ms)
2026-07-02 09:44:54,165 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.832617] moveTile loop start (+0.5 ms)
2026-07-02 09:44:54,172 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:54,178 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:44:54,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.851046] moveTile calculated motor speeds left=100 right=96 gyroSteer=7.839999999999918 wallSteer=-4.399999999999999 (+18.4 ms)
2026-07-02 09:44:54,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.871323] moveTile applied motor speed left=100 right=96 (+20.3 ms)
2026-07-02 09:44:54,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.877833] moveTile tile color check tempTileColor=E (+6.5 ms)
2026-07-02 09:44:54,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.879139] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:44:54,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.886347] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:44:54,221 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.12409682526388174 sec
2026-07-02 09:44:54,222 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:44:54,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.890025] moveTile loop end practicalMoveTime=0.124 (+3.7 ms)
2026-07-02 09:44:54,223 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.890418] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,233 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:54,239 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=254.9
2026-07-02 09:44:54,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.914777] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.6800000000000637 wallSteer=-4.800000000000001 (+24.4 ms)
2026-07-02 09:44:54,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.935359] moveTile applied motor speed left=97 right=100 (+20.6 ms)
2026-07-02 09:44:54,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.939083] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:54,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.939753] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:54,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.945762] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:44:54,279 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.89000000000004 deg, practicalMoveTime: 0.18126387770068353 sec
2026-07-02 09:44:54,279 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:44:54,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.947778] moveTile loop end practicalMoveTime=0.181 (+2.0 ms)
2026-07-02 09:44:54,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.948243] moveTile loop start (+0.5 ms)
2026-07-02 09:44:54,286 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fac7310>
2026-07-02 09:44:54,292 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:44:54,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.964714] moveTile calculated motor speeds left=100 right=93 gyroSteer=3.5599999999999454 wallSteer=2.8000000000000007 (+16.5 ms)
2026-07-02 09:44:54,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.986994] moveTile applied motor speed left=100 right=93 (+22.3 ms)
2026-07-02 09:44:54,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.991769] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:54,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.992520] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:54,329 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.997082] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:54,330 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.33000000000004 deg, practicalMoveTime: 0.23195726134960218 sec
2026-07-02 09:44:54,331 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.6 ms
2026-07-02 09:44:54,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [127.999518] moveTile loop end practicalMoveTime=0.232 (+2.4 ms)
2026-07-02 09:44:54,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.000554] moveTile loop start (+1.0 ms)
2026-07-02 09:44:54,339 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:54,347 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.6, S=255.0, V=255.0
2026-07-02 09:44:54,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.020915] moveTile calculated motor speeds left=100 right=99 gyroSteer=-1.4400000000000546 wallSteer=2.400000000000002 (+20.4 ms)
2026-07-02 09:44:54,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.043396] moveTile applied motor speed left=100 right=99 (+22.5 ms)
2026-07-02 09:44:54,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.048185] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:54,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.048874] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:54,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.053160] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:54,386 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.62 deg, practicalMoveTime: 0.28700642368778473 sec
2026-07-02 09:44:54,387 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:44:54,387 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.055132] moveTile loop end practicalMoveTime=0.287 (+2.0 ms)
2026-07-02 09:44:54,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.055574] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,394 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:54,400 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.9, S=255.0, V=255.0
2026-07-02 09:44:54,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.072490] moveTile calculated motor speeds left=97 right=100 gyroSteer=-1.3999999999998636 wallSteer=-1.1999999999999993 (+16.9 ms)
2026-07-02 09:44:54,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.091702] moveTile applied motor speed left=97 right=100 (+19.2 ms)
2026-07-02 09:44:54,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.096121] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:44:54,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.097270] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:54,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.101860] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:54,435 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.62 deg, practicalMoveTime: 0.3351005922030261 sec
2026-07-02 09:44:54,435 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.7 ms
2026-07-02 09:44:54,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.103796] moveTile loop end practicalMoveTime=0.335 (+1.9 ms)
2026-07-02 09:44:54,437 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.104442] moveTile loop start (+0.6 ms)
2026-07-02 09:44:54,442 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6deabed0>
2026-07-02 09:44:54,448 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:44:54,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.123952] moveTile calculated motor speeds left=91 right=100 gyroSteer=-6.039999999999964 wallSteer=-2.0 (+19.5 ms)
2026-07-02 09:44:54,476 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.143838] moveTile applied motor speed left=91 right=100 (+19.9 ms)
2026-07-02 09:44:54,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.147668] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:54,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.148279] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:54,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.155353] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:44:54,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.30000000000001137 deg, practicalMoveTime: 0.3880726596441802 sec
2026-07-02 09:44:54,489 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:44:54,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.157437] moveTile loop end practicalMoveTime=0.388 (+2.1 ms)
2026-07-02 09:44:54,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.157826] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,499 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f5e1990>
2026-07-02 09:44:54,504 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:44:54,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.181176] moveTile calculated motor speeds left=94 right=100 gyroSteer=-7.039999999999964 wallSteer=2.0 (+23.4 ms)
2026-07-02 09:44:54,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.201869] moveTile applied motor speed left=94 right=100 (+20.7 ms)
2026-07-02 09:44:54,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.207159] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:44:54,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.207870] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:54,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.214832] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:44:54,548 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.87 deg, practicalMoveTime: 0.44686319206235203 sec
2026-07-02 09:44:54,549 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:44:54,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.216998] moveTile loop end practicalMoveTime=0.447 (+2.2 ms)
2026-07-02 09:44:54,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.217397] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,555 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca49d0>
2026-07-02 09:44:54,562 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:44:54,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.243578] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.559999999999945 wallSteer=2.0 (+26.2 ms)
2026-07-02 09:44:54,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.264731] moveTile applied motor speed left=95 right=100 (+21.2 ms)
2026-07-02 09:44:54,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.268471] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:54,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.269148] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:54,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.278980] moveTile ramp check isBigRamp=False (+9.8 ms)
2026-07-02 09:44:54,612 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.5101927758942044 sec
2026-07-02 09:44:54,613 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.1 ms
2026-07-02 09:44:54,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.281021] moveTile loop end practicalMoveTime=0.510 (+2.0 ms)
2026-07-02 09:44:54,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.281392] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,618 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:54,625 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.9, S=255.0, V=255.0
2026-07-02 09:44:54,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.299044] moveTile calculated motor speeds left=95 right=100 gyroSteer=-5.920000000000073 wallSteer=1.1999999999999993 (+17.7 ms)
2026-07-02 09:44:54,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.319253] moveTile applied motor speed left=95 right=100 (+20.2 ms)
2026-07-02 09:44:54,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.324224] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:44:54,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.325347] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:54,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.329721] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:54,663 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.65000000000003 deg, practicalMoveTime: 0.5602127757669367 sec
2026-07-02 09:44:54,663 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.8 ms
2026-07-02 09:44:54,664 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.331855] moveTile loop end practicalMoveTime=0.560 (+2.1 ms)
2026-07-02 09:44:54,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.332416] moveTile loop start (+0.6 ms)
2026-07-02 09:44:54,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6deabed0>
2026-07-02 09:44:54,681 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:44:54,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.353384] moveTile calculated motor speeds left=93 right=100 gyroSteer=-7.160000000000082 wallSteer=0.8000000000000007 (+21.0 ms)
2026-07-02 09:44:54,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.373961] moveTile applied motor speed left=93 right=100 (+20.6 ms)
2026-07-02 09:44:54,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.379561] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:44:54,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.380389] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:54,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.384784] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:54,718 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5900000000000318 deg, practicalMoveTime: 0.6146308384951525 sec
2026-07-02 09:44:54,719 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:44:54,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.387693] moveTile loop end practicalMoveTime=0.615 (+2.9 ms)
2026-07-02 09:44:54,721 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.388571] moveTile loop start (+0.9 ms)
2026-07-02 09:44:54,734 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:54,741 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:44:54,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.415909] moveTile calculated motor speeds left=92 right=100 gyroSteer=-8.160000000000082 wallSteer=0.40000000000000213 (+27.3 ms)
2026-07-02 09:44:54,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.436584] moveTile applied motor speed left=92 right=100 (+20.7 ms)
2026-07-02 09:44:54,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.442382] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:44:54,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.443039] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:54,782 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.449505] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:44:54,783 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.33000000000004 deg, practicalMoveTime: 0.6784520819998419 sec
2026-07-02 09:44:54,783 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.4 ms
2026-07-02 09:44:54,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.451526] moveTile loop end practicalMoveTime=0.678 (+2.0 ms)
2026-07-02 09:44:54,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.451899] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,790 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:54,798 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:44:54,805 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.473049] moveTile calculated motor speeds left=89 right=100 gyroSteer=-7.0 wallSteer=-3.200000000000003 (+21.2 ms)
2026-07-02 09:44:54,833 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.500670] moveTile applied motor speed left=89 right=100 (+27.6 ms)
2026-07-02 09:44:54,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.504719] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:54,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.505521] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:54,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.514205] moveTile ramp check isBigRamp=False (+8.7 ms)
2026-07-02 09:44:54,848 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9000000000000341 deg, practicalMoveTime: 0.7432391056417955 sec
2026-07-02 09:44:54,849 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.1 ms
2026-07-02 09:44:54,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.517602] moveTile loop end practicalMoveTime=0.743 (+3.4 ms)
2026-07-02 09:44:54,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.517983] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,863 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:54,868 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:44:54,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.544598] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.480000000000018 wallSteer=0.0 (+26.6 ms)
2026-07-02 09:44:54,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.564881] moveTile applied motor speed left=97 right=100 (+20.3 ms)
2026-07-02 09:44:54,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.569781] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:44:54,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.570929] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:54,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.579529] moveTile ramp check isBigRamp=False (+8.6 ms)
2026-07-02 09:44:54,913 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.47 deg, practicalMoveTime: 0.8066583568918516 sec
2026-07-02 09:44:54,913 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.1 ms
2026-07-02 09:44:54,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.581635] moveTile loop end practicalMoveTime=0.807 (+2.1 ms)
2026-07-02 09:44:54,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.582036] moveTile loop start (+0.4 ms)
2026-07-02 09:44:54,920 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:54,926 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=254.9
2026-07-02 09:44:54,939 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.607114] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.6000000000001364 wallSteer=0.0 (+25.1 ms)
2026-07-02 09:44:54,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.629032] moveTile applied motor speed left=100 right=99 (+21.9 ms)
2026-07-02 09:44:54,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.632664] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:54,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.633210] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:54,971 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.638914] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:44:54,972 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.07774880101865692 CM
2026-07-02 09:44:54,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.659102] moveTile finished by time control (+20.2 ms)
2026-07-02 09:44:54,992 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.659917] moveTile start final forward adjustment (+21.0 ms)
2026-07-02 09:44:55,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.693585] moveTile finished final forward adjustment (+33.7 ms)
2026-07-02 09:44:55,177 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.979993420051594 cm
2026-07-02 09:44:55,178 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 54.11903641486524 cm
2026-07-02 09:44:55,180 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 15.84118318266926 cm
2026-07-02 09:44:55,181 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 39.80633058998439 cm
2026-07-02 09:44:55,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.851610] moveTile updated map and detected walls (+158.0 ms)
2026-07-02 09:44:55,186 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:55,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.855916] moveTile finished (+162.3 ms)
2026-07-02 09:44:55,228 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 1)
2026-07-02 09:44:55,259 - __main__ - [main.py:110] - INFO - Current position: (25, 21, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   @   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:55,267 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [128.934766] moveTile start direction=absDirection.WEST position=(25, 21, 0) front=absDirection.WEST
2026-07-02 09:44:55,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.941461] moveTile after initial toggle check (+6.7 ms)
2026-07-02 09:44:55,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.943535] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:44:55,276 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (25, 21, 0) facing absDirection.WEST
2026-07-02 09:44:55,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [128.944509] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:44:55,303 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 90.59000000000003 target: 90
2026-07-02 09:44:55,327 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 90.59000000000003, diff: 0.5900000000000318
2026-07-02 09:44:55,371 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.57 deg
2026-07-02 09:44:55,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.039580] moveTile finished heading change (+95.1 ms)
2026-07-02 09:44:55,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.040071] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:44:55,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.040497] moveTile updated front direction (+0.4 ms)
2026-07-02 09:44:55,392 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.059733] moveTile stopped motors before alignment (+19.2 ms)
2026-07-02 09:44:55,544 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.797594727705862 cm
2026-07-02 09:44:55,545 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 54.11903641486524 cm
2026-07-02 09:44:55,546 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 15.978072556073181 cm
2026-07-02 09:44:55,547 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 37.25342971449281 cm
2026-07-02 09:44:55,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.218350] moveTile start position adjustment using LiDAR for back wall. (+158.6 ms)
2026-07-02 09:44:55,573 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:55,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.642816] moveTile finished backward adjustment (+424.5 ms)
2026-07-02 09:44:56,054 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.721675] moveTile ready for forward move (+78.9 ms)
2026-07-02 09:44:56,084 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:44:56,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.752311] moveTile initialized movement targetSteps=1 (+30.6 ms)
2026-07-02 09:44:56,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.753513] moveTile loop start (+1.2 ms)
2026-07-02 09:44:56,091 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:44:56,097 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:44:56,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.770226] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.279999999999973 wallSteer=-0.3999999999999986 (+16.7 ms)
2026-07-02 09:44:56,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.789853] moveTile applied motor speed left=94 right=100 (+19.6 ms)
2026-07-02 09:44:56,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.795084] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:44:56,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.795899] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:56,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.803262] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:44:56,136 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.05271306322788305 sec
2026-07-02 09:44:56,138 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:44:56,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.806104] moveTile loop end practicalMoveTime=0.053 (+2.8 ms)
2026-07-02 09:44:56,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.806540] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,147 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:56,155 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:44:56,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.830895] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.5599999999999454 wallSteer=0.0 (+24.4 ms)
2026-07-02 09:44:56,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.855531] moveTile applied motor speed left=97 right=100 (+24.6 ms)
2026-07-02 09:44:56,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.862043] moveTile tile color check tempTileColor=E (+6.5 ms)
2026-07-02 09:44:56,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.862849] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:56,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.867942] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:44:56,201 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.95000000000005 deg, practicalMoveTime: 0.11614750105150443 sec
2026-07-02 09:44:56,202 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.9 ms
2026-07-02 09:44:56,202 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.870020] moveTile loop end practicalMoveTime=0.116 (+2.1 ms)
2026-07-02 09:44:56,202 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.870395] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,210 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:56,215 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:44:56,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.889810] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.0799999999999272 wallSteer=0.0 (+19.4 ms)
2026-07-02 09:44:56,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.909588] moveTile applied motor speed left=100 right=97 (+19.8 ms)
2026-07-02 09:44:56,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.913229] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:56,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.913748] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:56,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.919877] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:44:56,253 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.57000000000005 deg, practicalMoveTime: 0.16780372297779403 sec
2026-07-02 09:44:56,254 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:44:56,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.922309] moveTile loop end practicalMoveTime=0.168 (+2.4 ms)
2026-07-02 09:44:56,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.922683] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,262 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:56,268 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:44:56,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.942768] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.9600000000000364 wallSteer=4.0 (+20.1 ms)
2026-07-02 09:44:56,295 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.962559] moveTile applied motor speed left=100 right=96 (+19.8 ms)
2026-07-02 09:44:56,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.968554] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:44:56,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.969193] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:56,309 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.976695] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:44:56,310 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.67 deg, practicalMoveTime: 0.2235579365995079 sec
2026-07-02 09:44:56,310 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:44:56,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.978678] moveTile loop end practicalMoveTime=0.224 (+2.0 ms)
2026-07-02 09:44:56,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [129.979053] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,322 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:44:56,329 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:44:56,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.002422] moveTile calculated motor speeds left=98 right=100 gyroSteer=-0.35999999999989996 wallSteer=-0.8000000000000007 (+23.4 ms)
2026-07-02 09:44:56,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.022764] moveTile applied motor speed left=98 right=100 (+20.3 ms)
2026-07-02 09:44:56,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.027714] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:44:56,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.028435] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:56,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.036139] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:44:56,370 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4800000000000182 deg, practicalMoveTime: 0.2829120663037911 sec
2026-07-02 09:44:56,371 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:44:56,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.039257] moveTile loop end practicalMoveTime=0.283 (+3.1 ms)
2026-07-02 09:44:56,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.040297] moveTile loop start (+1.0 ms)
2026-07-02 09:44:56,379 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:44:56,385 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:44:56,392 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.059557] moveTile calculated motor speeds left=100 right=99 gyroSteer=-3.5599999999999454 wallSteer=4.399999999999999 (+19.3 ms)
2026-07-02 09:44:56,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.081067] moveTile applied motor speed left=100 right=99 (+21.5 ms)
2026-07-02 09:44:56,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.085351] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:56,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.086124] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:56,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.093179] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:44:56,427 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.33887789767978577 sec
2026-07-02 09:44:56,428 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:44:56,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.096467] moveTile loop end practicalMoveTime=0.339 (+3.3 ms)
2026-07-02 09:44:56,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.096902] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,439 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fac7310>
2026-07-02 09:44:56,447 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:44:56,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.121550] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.5199999999999818 wallSteer=4.399999999999999 (+24.6 ms)
2026-07-02 09:44:56,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.147022] moveTile applied motor speed left=100 right=96 (+25.5 ms)
2026-07-02 09:44:56,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.152285] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:44:56,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.152926] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:56,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.157924] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:44:56,491 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.40244164012940026 sec
2026-07-02 09:44:56,493 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.4 ms
2026-07-02 09:44:56,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.161051] moveTile loop end practicalMoveTime=0.402 (+3.1 ms)
2026-07-02 09:44:56,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.161476] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,500 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:56,506 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:56,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.180628] moveTile calculated motor speeds left=99 right=100 gyroSteer=-4.480000000000018 wallSteer=4.0 (+19.2 ms)
2026-07-02 09:44:56,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.199689] moveTile applied motor speed left=99 right=100 (+19.1 ms)
2026-07-02 09:44:56,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.204367] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:44:56,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.205009] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:56,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.209417] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:44:56,543 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6899999999999977 deg, practicalMoveTime: 0.45244082759960913 sec
2026-07-02 09:44:56,543 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.5 ms
2026-07-02 09:44:56,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.211539] moveTile loop end practicalMoveTime=0.452 (+2.1 ms)
2026-07-02 09:44:56,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.211911] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,549 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:44:56,556 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:44:56,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.231122] moveTile calculated motor speeds left=95 right=100 gyroSteer=-3.759999999999991 wallSteer=-0.40000000000000213 (+19.2 ms)
2026-07-02 09:44:56,585 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.252498] moveTile applied motor speed left=95 right=100 (+21.4 ms)
2026-07-02 09:44:56,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.256681] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:44:56,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.257219] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:56,596 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.264330] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:44:56,597 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.93 deg, practicalMoveTime: 0.5066802986098472 sec
2026-07-02 09:44:56,598 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:44:56,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.266346] moveTile loop end practicalMoveTime=0.507 (+2.0 ms)
2026-07-02 09:44:56,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.266707] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,605 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:56,612 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:44:56,617 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.285288] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.599999999999909 wallSteer=1.6000000000000014 (+18.6 ms)
2026-07-02 09:44:56,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.305295] moveTile applied motor speed left=95 right=100 (+20.0 ms)
2026-07-02 09:44:56,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.308932] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:56,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.309444] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:56,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.315597] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:44:56,649 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.87 deg, practicalMoveTime: 0.5577315454529 sec
2026-07-02 09:44:56,650 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:44:56,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.318064] moveTile loop end practicalMoveTime=0.558 (+2.5 ms)
2026-07-02 09:44:56,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.318430] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,658 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:44:56,664 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:44:56,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.337793] moveTile calculated motor speeds left=86 right=100 gyroSteer=-8.799999999999955 wallSteer=-5.199999999999999 (+19.4 ms)
2026-07-02 09:44:56,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.360170] moveTile applied motor speed left=86 right=100 (+22.4 ms)
2026-07-02 09:44:56,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.364219] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:56,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.364821] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:56,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.369698] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:44:56,703 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.06 deg, practicalMoveTime: 0.6111422776978932 sec
2026-07-02 09:44:56,704 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:44:56,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.372258] moveTile loop end practicalMoveTime=0.611 (+2.6 ms)
2026-07-02 09:44:56,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.372644] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,711 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:44:56,717 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:44:56,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.391436] moveTile calculated motor speeds left=88 right=100 gyroSteer=-7.960000000000036 wallSteer=-3.1999999999999993 (+18.8 ms)
2026-07-02 09:44:56,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.417294] moveTile applied motor speed left=88 right=100 (+25.9 ms)
2026-07-02 09:44:56,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.422105] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:44:56,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.422912] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:56,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.429347] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:44:56,762 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12999999999999545 deg, practicalMoveTime: 0.6696831865062826 sec
2026-07-02 09:44:56,763 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:44:56,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.431405] moveTile loop end practicalMoveTime=0.670 (+2.1 ms)
2026-07-02 09:44:56,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.431771] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,772 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:56,778 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:44:56,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.452430] moveTile calculated motor speeds left=87 right=100 gyroSteer=-9.160000000000082 wallSteer=-3.1999999999999993 (+20.7 ms)
2026-07-02 09:44:56,804 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.472214] moveTile applied motor speed left=87 right=100 (+19.8 ms)
2026-07-02 09:44:56,808 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.476182] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:56,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.476724] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:44:56,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.481650] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:44:56,815 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.24 deg, practicalMoveTime: 0.7214338233829115 sec
2026-07-02 09:44:56,816 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:44:56,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.484756] moveTile loop end practicalMoveTime=0.721 (+3.1 ms)
2026-07-02 09:44:56,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.485262] moveTile loop start (+0.5 ms)
2026-07-02 09:44:56,827 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:56,834 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:44:56,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.512593] moveTile calculated motor speeds left=91 right=100 gyroSteer=-5.3599999999999 wallSteer=-3.1999999999999993 (+27.3 ms)
2026-07-02 09:44:56,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.531976] moveTile applied motor speed left=91 right=100 (+19.4 ms)
2026-07-02 09:44:56,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.536901] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:44:56,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.537598] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:56,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.549267] moveTile ramp check isBigRamp=False (+11.7 ms)
2026-07-02 09:44:56,882 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8300000000000409 deg, practicalMoveTime: 0.7880097554281984 sec
2026-07-02 09:44:56,883 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.5 ms
2026-07-02 09:44:56,883 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.551302] moveTile loop end practicalMoveTime=0.788 (+2.0 ms)
2026-07-02 09:44:56,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.551662] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,890 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:44:56,897 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:44:56,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.570928] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.11999999999989086 wallSteer=-3.1999999999999993 (+19.3 ms)
2026-07-02 09:44:56,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.591568] moveTile applied motor speed left=96 right=100 (+20.6 ms)
2026-07-02 09:44:56,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.595311] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:56,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.596406] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:56,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.600943] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:56,934 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.67 deg, practicalMoveTime: 0.8389503777791947 sec
2026-07-02 09:44:56,935 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:44:56,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.602913] moveTile loop end practicalMoveTime=0.839 (+2.0 ms)
2026-07-02 09:44:56,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.603332] moveTile loop start (+0.4 ms)
2026-07-02 09:44:56,948 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:56,955 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=254.5, V=254.9
2026-07-02 09:44:56,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.630402] moveTile calculated motor speeds left=98 right=100 gyroSteer=4.279999999999973 wallSteer=-5.600000000000001 (+27.1 ms)
2026-07-02 09:44:56,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.656274] moveTile applied motor speed left=98 right=100 (+25.9 ms)
2026-07-02 09:44:56,992 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.660205] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:56,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.661572] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:44:56,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.666058] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:56,999 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.011776455639348274 CM
2026-07-02 09:44:57,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.685591] moveTile finished by time control (+19.5 ms)
2026-07-02 09:44:57,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.686275] moveTile start final forward adjustment (+20.2 ms)
2026-07-02 09:44:57,049 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:44:57,063 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:17.2
2026-07-02 09:44:57,150 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.6
2026-07-02 09:44:57,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.839346] moveTile finished final forward adjustment (+153.1 ms)
2026-07-02 09:44:57,320 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 16.178503407632476 cm
2026-07-02 09:44:57,321 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 80.06487332528727 cm
2026-07-02 09:44:57,322 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 105.7548692542971 cm
2026-07-02 09:44:57,323 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 11.97076860311789 cm
2026-07-02 09:44:57,326 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 11.97076860311789 cm, TSD10 distance: 1.8 cm
2026-07-02 09:44:57,328 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.995509] moveTile updated map and detected walls (+156.2 ms)
2026-07-02 09:44:57,330 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:44:57,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [130.998913] moveTile finished (+159.6 ms)
2026-07-02 09:44:57,372 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 2)
2026-07-02 09:44:57,402 - __main__ - [main.py:110] - INFO - Current position: (24, 21, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | @   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:44:57,407 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [131.075252] moveTile start direction=absDirection.SOUTH position=(24, 21, 0) front=absDirection.WEST
2026-07-02 09:44:57,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [131.081320] moveTile after initial toggle check (+6.1 ms)
2026-07-02 09:44:57,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [131.083509] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:44:57,416 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (24, 21, 0) facing absDirection.WEST
2026-07-02 09:44:57,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [131.084535] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:44:57,446 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.53000000000003 target: 180
2026-07-02 09:44:58,483 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 176.84, diff: 3.1599999999999966
2026-07-02 09:44:58,542 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.04000000000002 deg
2026-07-02 09:44:58,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.211057] moveTile finished heading change (+1126.5 ms)
2026-07-02 09:44:58,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.211792] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:44:58,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.212947] moveTile updated front direction (+1.2 ms)
2026-07-02 09:44:58,569 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.236388] moveTile stopped motors before alignment (+23.4 ms)
2026-07-02 09:44:58,711 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 19.666787454525924 cm
2026-07-02 09:44:58,713 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 76.88239992514234 cm
2026-07-02 09:44:58,714 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 100.51220897726938 cm
2026-07-02 09:44:58,717 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.097548273429528 cm
2026-07-02 09:44:58,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.387139] moveTile start position adjustment using LiDAR for back wall. (+150.8 ms)
2026-07-02 09:44:58,740 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:44:58,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.531528] moveTile finished backward adjustment (+144.4 ms)
2026-07-02 09:44:58,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.609850] moveTile ready for forward move (+78.3 ms)
2026-07-02 09:44:58,968 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:44:58,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.636868] moveTile initialized movement targetSteps=1 (+27.0 ms)
2026-07-02 09:44:58,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.638310] moveTile loop start (+1.4 ms)
2026-07-02 09:44:58,979 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:44:58,986 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:44:58,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.658972] moveTile calculated motor speeds left=100 right=96 gyroSteer=7.960000000000036 wallSteer=-4.800000000000001 (+20.7 ms)
2026-07-02 09:44:59,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.680301] moveTile applied motor speed left=100 right=96 (+21.3 ms)
2026-07-02 09:44:59,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.685530] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:44:59,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.686205] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:59,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.690534] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:59,024 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.05579569042039387 sec
2026-07-02 09:44:59,025 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:44:59,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.693550] moveTile loop end practicalMoveTime=0.056 (+3.0 ms)
2026-07-02 09:44:59,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.693965] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,033 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:59,039 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:44:59,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.713124] moveTile calculated motor speeds left=100 right=89 gyroSteer=13.600000000000023 wallSteer=-2.8000000000000007 (+19.2 ms)
2026-07-02 09:44:59,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.733985] moveTile applied motor speed left=100 right=89 (+20.9 ms)
2026-07-02 09:44:59,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.737772] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:59,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.738390] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:59,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.743830] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:44:59,077 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1500000000000341 deg, practicalMoveTime: 0.10766275930205108 sec
2026-07-02 09:44:59,078 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:44:59,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.745804] moveTile loop end practicalMoveTime=0.108 (+2.0 ms)
2026-07-02 09:44:59,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.746177] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,084 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:44:59,090 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:59,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.765690] moveTile calculated motor speeds left=100 right=84 gyroSteer=18.75999999999999 wallSteer=-2.8000000000000007 (+19.5 ms)
2026-07-02 09:44:59,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.790649] moveTile applied motor speed left=100 right=84 (+25.0 ms)
2026-07-02 09:44:59,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.794313] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:59,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.795572] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:44:59,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.800247] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:44:59,133 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.5 deg, practicalMoveTime: 0.16340909924841712 sec
2026-07-02 09:44:59,134 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:44:59,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.802249] moveTile loop end practicalMoveTime=0.163 (+2.0 ms)
2026-07-02 09:44:59,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.802623] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,144 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:44:59,150 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:59,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.823378] moveTile calculated motor speeds left=100 right=86 gyroSteer=15.6400000000001 wallSteer=-2.3999999999999986 (+20.8 ms)
2026-07-02 09:44:59,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.842223] moveTile applied motor speed left=100 right=86 (+18.8 ms)
2026-07-02 09:44:59,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.845876] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:59,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.846471] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:59,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.852385] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:59,186 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.19 deg, practicalMoveTime: 0.21532456330682506 sec
2026-07-02 09:44:59,186 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:44:59,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.854819] moveTile loop end practicalMoveTime=0.215 (+2.4 ms)
2026-07-02 09:44:59,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.855193] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,197 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:59,204 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:44:59,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.876821] moveTile calculated motor speeds left=100 right=85 gyroSteer=18.32000000000005 wallSteer=-3.6000000000000014 (+21.6 ms)
2026-07-02 09:44:59,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.896508] moveTile applied motor speed left=100 right=85 (+19.7 ms)
2026-07-02 09:44:59,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.900204] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:59,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.901218] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:59,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.908121] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:44:59,241 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.25 deg, practicalMoveTime: 0.269988893171835 sec
2026-07-02 09:44:59,242 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:44:59,243 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.910636] moveTile loop end practicalMoveTime=0.270 (+2.5 ms)
2026-07-02 09:44:59,243 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.911125] moveTile loop start (+0.5 ms)
2026-07-02 09:44:59,251 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:59,259 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:44:59,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.931879] moveTile calculated motor speeds left=100 right=95 gyroSteer=12.480000000000018 wallSteer=-8.400000000000002 (+20.8 ms)
2026-07-02 09:44:59,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.951952] moveTile applied motor speed left=100 right=95 (+20.1 ms)
2026-07-02 09:44:59,288 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.955684] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:59,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.956896] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:44:59,294 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.962172] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:44:59,295 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.97 deg, practicalMoveTime: 0.3233688983668254 sec
2026-07-02 09:44:59,296 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:44:59,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.964185] moveTile loop end practicalMoveTime=0.323 (+2.0 ms)
2026-07-02 09:44:59,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.964592] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,304 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:44:59,310 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:59,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [132.984463] moveTile calculated motor speeds left=100 right=86 gyroSteer=10.160000000000082 wallSteer=3.599999999999998 (+19.9 ms)
2026-07-02 09:44:59,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.010754] moveTile applied motor speed left=100 right=86 (+26.3 ms)
2026-07-02 09:44:59,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.017597] moveTile tile color check tempTileColor=E (+6.8 ms)
2026-07-02 09:44:59,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.018296] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:59,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.022606] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:59,356 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1500000000000341 deg, practicalMoveTime: 0.38311352852452335 sec
2026-07-02 09:44:59,356 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:44:59,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.024829] moveTile loop end practicalMoveTime=0.383 (+2.2 ms)
2026-07-02 09:44:59,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.025229] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,363 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:59,370 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:59,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.045497] moveTile calculated motor speeds left=100 right=87 gyroSteer=11.920000000000073 wallSteer=0.40000000000000213 (+20.3 ms)
2026-07-02 09:44:59,402 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.070328] moveTile applied motor speed left=100 right=87 (+24.8 ms)
2026-07-02 09:44:59,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.073960] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:44:59,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.074517] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:59,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.080415] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:44:59,414 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.07000000000005002 deg, practicalMoveTime: 0.44012747446913925 sec
2026-07-02 09:44:59,414 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.6 ms
2026-07-02 09:44:59,414 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.082376] moveTile loop end practicalMoveTime=0.440 (+2.0 ms)
2026-07-02 09:44:59,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.082737] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,425 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:44:59,431 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:59,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.104138] moveTile calculated motor speeds left=100 right=99 gyroSteer=2.880000000000109 wallSteer=-2.3999999999999986 (+21.4 ms)
2026-07-02 09:44:59,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.124116] moveTile applied motor speed left=100 right=99 (+20.0 ms)
2026-07-02 09:44:59,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.128101] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:44:59,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.128756] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:59,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.133058] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:44:59,466 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.05 deg, practicalMoveTime: 0.49211918062617716 sec
2026-07-02 09:44:59,467 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:44:59,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.135533] moveTile loop end practicalMoveTime=0.492 (+2.5 ms)
2026-07-02 09:44:59,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.135946] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,478 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:59,486 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:59,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.158303] moveTile calculated motor speeds left=100 right=96 gyroSteer=4.039999999999964 wallSteer=-0.8000000000000007 (+22.4 ms)
2026-07-02 09:44:59,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.183944] moveTile applied motor speed left=100 right=96 (+25.6 ms)
2026-07-02 09:44:59,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.188292] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:44:59,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.188943] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:44:59,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.193406] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:59,527 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.21000000000003638 deg, practicalMoveTime: 0.5516688275608062 sec
2026-07-02 09:44:59,528 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:44:59,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.197633] moveTile loop end practicalMoveTime=0.552 (+4.2 ms)
2026-07-02 09:44:59,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.198107] moveTile loop start (+0.5 ms)
2026-07-02 09:44:59,539 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:44:59,545 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:59,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.220131] moveTile calculated motor speeds left=98 right=100 gyroSteer=-1.599999999999909 wallSteer=-0.3999999999999986 (+22.0 ms)
2026-07-02 09:44:59,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.246545] moveTile applied motor speed left=98 right=100 (+26.4 ms)
2026-07-02 09:44:59,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.250221] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:44:59,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.250818] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:44:59,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.255602] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:44:59,589 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.51000000000005 deg, practicalMoveTime: 0.6123336469857948 sec
2026-07-02 09:44:59,590 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:44:59,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.258786] moveTile loop end practicalMoveTime=0.612 (+3.2 ms)
2026-07-02 09:44:59,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.259227] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,599 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:59,606 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:59,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.280321] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.079999999999927 wallSteer=-0.8000000000000007 (+21.1 ms)
2026-07-02 09:44:59,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.299768] moveTile applied motor speed left=95 right=100 (+19.4 ms)
2026-07-02 09:44:59,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.305685] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:44:59,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.307305] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:44:59,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.311831] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:44:59,645 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.64000000000004 deg, practicalMoveTime: 0.6671221086389758 sec
2026-07-02 09:44:59,646 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:44:59,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.315094] moveTile loop end practicalMoveTime=0.667 (+3.3 ms)
2026-07-02 09:44:59,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.315728] moveTile loop start (+0.6 ms)
2026-07-02 09:44:59,655 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:59,662 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:59,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.335795] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.079999999999927 wallSteer=-1.1999999999999993 (+20.1 ms)
2026-07-02 09:44:59,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.358609] moveTile applied motor speed left=94 right=100 (+22.8 ms)
2026-07-02 09:44:59,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.363328] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:44:59,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.364133] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:59,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.371531] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:44:59,705 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.53000000000003 deg, practicalMoveTime: 0.725838814395821 sec
2026-07-02 09:44:59,706 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:44:59,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.374070] moveTile loop end practicalMoveTime=0.726 (+2.5 ms)
2026-07-02 09:44:59,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.374443] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,713 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fac7310>
2026-07-02 09:44:59,719 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.1, S=255.0, V=255.0
2026-07-02 09:44:59,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.394001] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.2000000000000455 wallSteer=-1.1999999999999993 (+19.6 ms)
2026-07-02 09:44:59,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.418573] moveTile applied motor speed left=94 right=100 (+24.6 ms)
2026-07-02 09:44:59,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.422459] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:44:59,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.423424] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:44:59,765 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.433199] moveTile ramp check isBigRamp=False (+9.8 ms)
2026-07-02 09:44:59,766 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.34000000000003183 deg, practicalMoveTime: 0.7863686495934238 sec
2026-07-02 09:44:59,767 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.2 ms
2026-07-02 09:44:59,767 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.435171] moveTile loop end practicalMoveTime=0.786 (+2.0 ms)
2026-07-02 09:44:59,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.435537] moveTile loop start (+0.4 ms)
2026-07-02 09:44:59,779 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fc17050>
2026-07-02 09:44:59,786 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:59,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.460075] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.319999999999936 wallSteer=-1.1999999999999993 (+24.5 ms)
2026-07-02 09:44:59,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.480291] moveTile applied motor speed left=94 right=100 (+20.2 ms)
2026-07-02 09:44:59,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.486114] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:44:59,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.486897] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:44:59,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.491525] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:44:59,825 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3100000000000023 deg, practicalMoveTime: 0.8440448359478112 sec
2026-07-02 09:44:59,825 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:44:59,826 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.493570] moveTile loop end practicalMoveTime=0.844 (+2.0 ms)
2026-07-02 09:44:59,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.494420] moveTile loop start (+0.9 ms)
2026-07-02 09:44:59,833 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:44:59,840 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:44:59,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.517408] moveTile calculated motor speeds left=96 right=100 gyroSteer=-2.0399999999999636 wallSteer=-1.1999999999999993 (+23.0 ms)
2026-07-02 09:44:59,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.536438] moveTile applied motor speed left=96 right=100 (+19.0 ms)
2026-07-02 09:44:59,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.540255] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:44:59,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.541363] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:44:59,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.548965] moveTile ramp check isBigRamp=False (+7.6 ms)
2026-07-02 09:44:59,882 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.06785996028764701 CM
2026-07-02 09:44:59,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.569282] moveTile finished by time control (+20.3 ms)
2026-07-02 09:44:59,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.569962] moveTile start final forward adjustment (+21.0 ms)
2026-07-02 09:44:59,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.600170] moveTile finished final forward adjustment (+30.2 ms)
2026-07-02 09:45:00,087 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 54.38162696784623 cm
2026-07-02 09:45:00,089 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 46.23287765959527 cm
2026-07-02 09:45:00,090 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 69.20471643306031 cm
2026-07-02 09:45:00,093 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.390009181875826 cm
2026-07-02 09:45:00,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.762252] moveTile updated map and detected walls (+162.1 ms)
2026-07-02 09:45:00,097 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:00,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.765576] moveTile finished (+165.4 ms)
2026-07-02 09:45:00,138 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (2, 1)
2026-07-02 09:45:00,171 - __main__ - [main.py:110] - INFO - Current position: (24, 22, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | @   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:00,178 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [133.845663] moveTile start direction=absDirection.SOUTH position=(24, 22, 0) front=absDirection.SOUTH
2026-07-02 09:45:00,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.856348] moveTile after initial toggle check (+10.7 ms)
2026-07-02 09:45:00,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.858468] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:45:00,191 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (24, 22, 0) facing absDirection.SOUTH
2026-07-02 09:45:00,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.859374] moveTile start heading change target=180 (+0.9 ms)
2026-07-02 09:45:00,222 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 180.82 target: 180
2026-07-02 09:45:00,243 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 180.82, diff: 0.8199999999999932
2026-07-02 09:45:00,288 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.7 deg
2026-07-02 09:45:00,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.956411] moveTile finished heading change (+97.0 ms)
2026-07-02 09:45:00,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.956878] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:00,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.957349] moveTile updated front direction (+0.5 ms)
2026-07-02 09:45:00,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [133.979587] moveTile stopped motors before alignment (+22.2 ms)
2026-07-02 09:45:00,471 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 53.802065576529415 cm
2026-07-02 09:45:00,473 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 46.28257807729867 cm
2026-07-02 09:45:00,474 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 69.04520046212065 cm
2026-07-02 09:45:00,477 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.337592668686508 cm
2026-07-02 09:45:00,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.146387] moveTile start position adjustment using LiDAR for back wall. (+166.8 ms)
2026-07-02 09:45:00,499 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:00,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.523269] moveTile finished backward adjustment (+376.9 ms)
2026-07-02 09:45:00,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.595446] moveTile ready for forward move (+72.2 ms)
2026-07-02 09:45:00,963 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:00,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.631952] moveTile initialized movement targetSteps=1 (+36.5 ms)
2026-07-02 09:45:00,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.633615] moveTile loop start (+1.7 ms)
2026-07-02 09:45:00,975 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:00,981 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:00,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.659274] moveTile calculated motor speeds left=94 right=100 gyroSteer=-3.6399999999999864 wallSteer=-2.0 (+25.7 ms)
2026-07-02 09:45:01,011 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.678684] moveTile applied motor speed left=94 right=100 (+19.4 ms)
2026-07-02 09:45:01,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.685764] moveTile tile color check tempTileColor=E (+7.1 ms)
2026-07-02 09:45:01,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.686477] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:01,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.690814] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:01,024 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.67 deg, practicalMoveTime: 0.06047816099358109 sec
2026-07-02 09:45:01,025 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:45:01,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.693001] moveTile loop end practicalMoveTime=0.060 (+2.2 ms)
2026-07-02 09:45:01,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.693378] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,033 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:45:01,040 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,046 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.713781] moveTile calculated motor speeds left=97 right=100 gyroSteer=1.5199999999999818 wallSteer=-4.0 (+20.4 ms)
2026-07-02 09:45:01,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.733401] moveTile applied motor speed left=97 right=100 (+19.6 ms)
2026-07-02 09:45:01,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.740180] moveTile tile color check tempTileColor=E (+6.8 ms)
2026-07-02 09:45:01,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.740941] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:01,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.747879] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:01,081 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.24 deg, practicalMoveTime: 0.11676621948407462 sec
2026-07-02 09:45:01,082 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:45:01,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.749862] moveTile loop end practicalMoveTime=0.117 (+2.0 ms)
2026-07-02 09:45:01,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.750313] moveTile loop start (+0.5 ms)
2026-07-02 09:45:01,089 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:01,094 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.777713] moveTile calculated motor speeds left=98 right=100 gyroSteer=2.2000000000000455 wallSteer=-3.6000000000000014 (+27.4 ms)
2026-07-02 09:45:01,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.803802] moveTile applied motor speed left=98 right=100 (+26.1 ms)
2026-07-02 09:45:01,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.807977] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:01,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.809163] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:45:01,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.814840] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:01,148 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.31 deg, practicalMoveTime: 0.18307873046633227 sec
2026-07-02 09:45:01,149 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 66.1 ms
2026-07-02 09:45:01,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.817063] moveTile loop end practicalMoveTime=0.183 (+2.2 ms)
2026-07-02 09:45:01,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.817551] moveTile loop start (+0.5 ms)
2026-07-02 09:45:01,156 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:01,162 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.834663] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.360000000000014 wallSteer=-4.0 (+17.1 ms)
2026-07-02 09:45:01,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.854416] moveTile applied motor speed left=100 right=99 (+19.8 ms)
2026-07-02 09:45:01,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.858018] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:01,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.858588] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:01,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.869114] moveTile ramp check isBigRamp=False (+10.5 ms)
2026-07-02 09:45:01,202 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.52000000000004 deg, practicalMoveTime: 0.23658131718553035 sec
2026-07-02 09:45:01,203 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.0 ms
2026-07-02 09:45:01,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.871068] moveTile loop end practicalMoveTime=0.237 (+2.0 ms)
2026-07-02 09:45:01,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.871434] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,215 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:01,221 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.894919] moveTile calculated motor speeds left=97 right=100 gyroSteer=1.0 wallSteer=-4.0 (+23.5 ms)
2026-07-02 09:45:01,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.914218] moveTile applied motor speed left=97 right=100 (+19.3 ms)
2026-07-02 09:45:01,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.917869] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:01,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.918865] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:01,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.925624] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:01,259 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.31 deg, practicalMoveTime: 0.2924945254712445 sec
2026-07-02 09:45:01,259 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:45:01,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.927639] moveTile loop end practicalMoveTime=0.292 (+2.0 ms)
2026-07-02 09:45:01,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.927999] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,265 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:45:01,272 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.947561] moveTile calculated motor speeds left=96 right=100 gyroSteer=0.36000000000001364 wallSteer=-4.0 (+19.6 ms)
2026-07-02 09:45:01,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.967409] moveTile applied motor speed left=96 right=100 (+19.8 ms)
2026-07-02 09:45:01,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.973051] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:45:01,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.973845] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:01,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.979790] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:01,313 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.46000000000004 deg, practicalMoveTime: 0.34607076107864415 sec
2026-07-02 09:45:01,314 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:45:01,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.981943] moveTile loop end practicalMoveTime=0.346 (+2.2 ms)
2026-07-02 09:45:01,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [134.982308] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,321 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:45:01,327 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.002138] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.2000000000000455 wallSteer=-2.3999999999999986 (+19.8 ms)
2026-07-02 09:45:01,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.022518] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:45:01,358 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.026234] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:01,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.026798] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:01,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.030884] moveTile ramp check isBigRamp=False (+4.1 ms)
2026-07-02 09:45:01,365 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.67 deg, practicalMoveTime: 0.39696632306559054 sec
2026-07-02 09:45:01,365 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:45:01,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.033762] moveTile loop end practicalMoveTime=0.397 (+2.9 ms)
2026-07-02 09:45:01,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.034136] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,371 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aafd0>
2026-07-02 09:45:01,378 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.050904] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.6800000000000637 wallSteer=-2.3999999999999986 (+16.8 ms)
2026-07-02 09:45:01,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.075128] moveTile applied motor speed left=99 right=100 (+24.2 ms)
2026-07-02 09:45:01,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.080227] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:45:01,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.082871] moveTile obstacle check escapeFlag=False (+2.6 ms)
2026-07-02 09:45:01,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.089193] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:01,422 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.55 deg, practicalMoveTime: 0.45384264553924336 sec
2026-07-02 09:45:01,423 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:45:01,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.091140] moveTile loop end practicalMoveTime=0.454 (+1.9 ms)
2026-07-02 09:45:01,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.091631] moveTile loop start (+0.5 ms)
2026-07-02 09:45:01,429 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:01,435 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:45:01,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.108119] moveTile calculated motor speeds left=98 right=100 gyroSteer=2.480000000000018 wallSteer=-4.399999999999999 (+16.5 ms)
2026-07-02 09:45:01,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.128245] moveTile applied motor speed left=98 right=100 (+20.1 ms)
2026-07-02 09:45:01,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.133011] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:45:01,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.133671] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:01,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.140471] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:01,474 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.47 deg, practicalMoveTime: 0.5049438126740264 sec
2026-07-02 09:45:01,475 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:45:01,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.142905] moveTile loop end practicalMoveTime=0.505 (+2.4 ms)
2026-07-02 09:45:01,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.143275] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,480 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:01,487 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.161111] moveTile calculated motor speeds left=95 right=100 gyroSteer=-0.15999999999996817 wallSteer=-4.399999999999999 (+17.8 ms)
2026-07-02 09:45:01,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.187699] moveTile applied motor speed left=95 right=100 (+26.6 ms)
2026-07-02 09:45:01,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.191413] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:01,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.192041] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:01,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.202053] moveTile ramp check isBigRamp=False (+10.0 ms)
2026-07-02 09:45:01,535 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.36000000000001364 deg, practicalMoveTime: 0.5655352679941515 sec
2026-07-02 09:45:01,536 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.4 ms
2026-07-02 09:45:01,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.204882] moveTile loop end practicalMoveTime=0.566 (+2.8 ms)
2026-07-02 09:45:01,538 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.205529] moveTile loop start (+0.6 ms)
2026-07-02 09:45:01,545 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:01,551 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:45:01,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.226395] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.7200000000000273 wallSteer=-4.399999999999999 (+20.9 ms)
2026-07-02 09:45:01,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.245492] moveTile applied motor speed left=99 right=100 (+19.1 ms)
2026-07-02 09:45:01,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.249227] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:01,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.250325] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:01,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.257859] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:45:01,591 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.46000000000004 deg, practicalMoveTime: 0.6206637780260246 sec
2026-07-02 09:45:01,592 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:45:01,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.259950] moveTile loop end practicalMoveTime=0.621 (+2.1 ms)
2026-07-02 09:45:01,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.260560] moveTile loop start (+0.6 ms)
2026-07-02 09:45:01,604 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:01,610 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:45:01,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.284100] moveTile calculated motor speeds left=97 right=100 gyroSteer=1.0399999999999636 wallSteer=-4.0 (+23.5 ms)
2026-07-02 09:45:01,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.304733] moveTile applied motor speed left=97 right=100 (+20.6 ms)
2026-07-02 09:45:01,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.308496] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:01,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.309072] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:01,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.315878] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:01,649 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.6780199643774653 sec
2026-07-02 09:45:01,650 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:45:01,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.317939] moveTile loop end practicalMoveTime=0.678 (+2.1 ms)
2026-07-02 09:45:01,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.318307] moveTile loop start (+0.4 ms)
2026-07-02 09:45:01,660 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:45:01,667 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:45:01,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.340568] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.5599999999999454 wallSteer=-4.399999999999999 (+22.3 ms)
2026-07-02 09:45:01,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.360708] moveTile applied motor speed left=99 right=100 (+20.1 ms)
2026-07-02 09:45:01,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.364521] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:01,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.365167] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:01,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.369526] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:01,703 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.7309432473210316 sec
2026-07-02 09:45:01,704 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:45:01,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.372283] moveTile loop end practicalMoveTime=0.731 (+2.8 ms)
2026-07-02 09:45:01,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.373005] moveTile loop start (+0.7 ms)
2026-07-02 09:45:01,715 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:01,722 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.9, S=255.0, V=255.0
2026-07-02 09:45:01,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.394378] moveTile calculated motor speeds left=97 right=100 gyroSteer=-0.03999999999996362 wallSteer=-2.3999999999999986 (+21.4 ms)
2026-07-02 09:45:01,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.420675] moveTile applied motor speed left=97 right=100 (+26.3 ms)
2026-07-02 09:45:01,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.424574] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:01,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.425221] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:01,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.433583] moveTile ramp check isBigRamp=False (+8.4 ms)
2026-07-02 09:45:01,767 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1299999999999955 deg, practicalMoveTime: 0.7941955522127165 sec
2026-07-02 09:45:01,768 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.5 ms
2026-07-02 09:45:01,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.435978] moveTile loop end practicalMoveTime=0.794 (+2.4 ms)
2026-07-02 09:45:01,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.436434] moveTile loop start (+0.5 ms)
2026-07-02 09:45:01,776 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:01,782 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.7, S=255.0, V=255.0
2026-07-02 09:45:01,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.455584] moveTile calculated motor speeds left=94 right=100 gyroSteer=-2.67999999999995 wallSteer=-2.3999999999999986 (+19.2 ms)
2026-07-02 09:45:01,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.479874] moveTile applied motor speed left=94 right=100 (+24.3 ms)
2026-07-02 09:45:01,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.486364] moveTile tile color check tempTileColor=E (+6.5 ms)
2026-07-02 09:45:01,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.487133] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:01,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.491858] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:01,825 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6800000000000068 deg, practicalMoveTime: 0.8515421487240857 sec
2026-07-02 09:45:01,826 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:45:01,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.495167] moveTile loop end practicalMoveTime=0.852 (+3.3 ms)
2026-07-02 09:45:01,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.495909] moveTile loop start (+0.7 ms)
2026-07-02 09:45:01,833 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:01,840 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=255.0, V=255.0
2026-07-02 09:45:01,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.512405] moveTile calculated motor speeds left=92 right=100 gyroSteer=-4.960000000000036 wallSteer=-2.3999999999999986 (+16.5 ms)
2026-07-02 09:45:01,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.532388] moveTile applied motor speed left=92 right=100 (+20.0 ms)
2026-07-02 09:45:01,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.536118] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:01,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.536939] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:01,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.543584] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:45:01,877 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.19274682951822525 CM
2026-07-02 09:45:01,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.571842] moveTile finished by time control (+28.3 ms)
2026-07-02 09:45:01,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.572968] moveTile start final forward adjustment (+29.4 ms)
2026-07-02 09:45:01,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.605475] moveTile finished final forward adjustment (+32.5 ms)
2026-07-02 09:45:02,102 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 78.82465833731477 cm
2026-07-02 09:45:02,103 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 46.28596439157378 cm
2026-07-02 09:45:02,104 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 43.99001877429963 cm
2026-07-02 09:45:02,108 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.778347791963073 cm
2026-07-02 09:45:02,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.777292] moveTile updated map and detected walls (+171.8 ms)
2026-07-02 09:45:02,113 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:02,113 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.781280] moveTile finished (+175.8 ms)
2026-07-02 09:45:02,154 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 2)
2026-07-02 09:45:02,186 - __main__ - [main.py:110] - INFO - Current position: (24, 23, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | @   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:02,195 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [135.862720] moveTile start direction=absDirection.SOUTH position=(24, 23, 0) front=absDirection.SOUTH
2026-07-02 09:45:02,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.868374] moveTile after initial toggle check (+5.7 ms)
2026-07-02 09:45:02,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.870914] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.5 ms)
2026-07-02 09:45:02,204 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (24, 23, 0) facing absDirection.SOUTH
2026-07-02 09:45:02,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.871827] moveTile start heading change target=180 (+0.9 ms)
2026-07-02 09:45:02,228 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 179.38 target: 180
2026-07-02 09:45:02,250 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 179.38, diff: 0.6200000000000045
2026-07-02 09:45:02,292 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 179.39 deg
2026-07-02 09:45:02,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.960573] moveTile finished heading change (+88.7 ms)
2026-07-02 09:45:02,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.961039] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:02,294 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.961456] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:02,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [135.981819] moveTile stopped motors before alignment (+20.4 ms)
2026-07-02 09:45:02,470 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 78.98157878618433 cm
2026-07-02 09:45:02,472 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 46.6712266547061 cm
2026-07-02 09:45:02,473 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 43.70312442910021 cm
2026-07-02 09:45:02,477 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.060781589723653 cm
2026-07-02 09:45:02,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.145336] moveTile start position adjustment using LiDAR for front wall. (+163.5 ms)
2026-07-02 09:45:02,503 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:02,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.407018] moveTile finished backward adjustment (+261.7 ms)
2026-07-02 09:45:02,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.484804] moveTile ready for forward move (+77.8 ms)
2026-07-02 09:45:02,847 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:02,848 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.515512] moveTile initialized movement targetSteps=1 (+30.7 ms)
2026-07-02 09:45:02,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.516818] moveTile loop start (+1.3 ms)
2026-07-02 09:45:02,863 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a550>
2026-07-02 09:45:02,871 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=255.0, V=255.0
2026-07-02 09:45:02,875 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.543000] moveTile calculated motor speeds left=98 right=100 gyroSteer=2.5599999999999454 wallSteer=-3.6000000000000014 (+26.2 ms)
2026-07-02 09:45:02,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.569989] moveTile applied motor speed left=98 right=100 (+27.0 ms)
2026-07-02 09:45:02,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.577317] moveTile tile color check tempTileColor=E (+7.3 ms)
2026-07-02 09:45:02,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.578241] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:02,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.583393] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:45:02,916 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.06950779918359921 sec
2026-07-02 09:45:02,917 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 68.0 ms
2026-07-02 09:45:02,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.585389] moveTile loop end practicalMoveTime=0.070 (+2.0 ms)
2026-07-02 09:45:02,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.585751] moveTile loop start (+0.4 ms)
2026-07-02 09:45:02,925 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:02,931 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=255.0, V=255.0
2026-07-02 09:45:02,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.610129] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.840000000000032 wallSteer=-3.6000000000000014 (+24.4 ms)
2026-07-02 09:45:02,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.630674] moveTile applied motor speed left=100 right=97 (+20.5 ms)
2026-07-02 09:45:02,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.634882] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:02,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.635634] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:02,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.642655] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:45:02,976 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.62 deg, practicalMoveTime: 0.12831769347581554 sec
2026-07-02 09:45:02,978 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:45:02,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.646283] moveTile loop end practicalMoveTime=0.128 (+3.6 ms)
2026-07-02 09:45:02,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.647002] moveTile loop start (+0.7 ms)
2026-07-02 09:45:02,986 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:02,994 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=255.0, V=255.0
2026-07-02 09:45:03,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.670111] moveTile calculated motor speeds left=100 right=94 gyroSteer=9.519999999999982 wallSteer=-3.6000000000000014 (+23.1 ms)
2026-07-02 09:45:03,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.690549] moveTile applied motor speed left=100 right=94 (+20.4 ms)
2026-07-02 09:45:03,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.696062] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:45:03,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.697108] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:03,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.702595] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:03,036 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.15000000000003 deg, practicalMoveTime: 0.1861094805100117 sec
2026-07-02 09:45:03,036 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:45:03,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.704889] moveTile loop end practicalMoveTime=0.186 (+2.3 ms)
2026-07-02 09:45:03,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.705847] moveTile loop start (+1.0 ms)
2026-07-02 09:45:03,043 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:03,050 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.1, S=254.7, V=254.9
2026-07-02 09:45:03,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.725042] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.9600000000000364 wallSteer=-3.1999999999999993 (+19.2 ms)
2026-07-02 09:45:03,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.750200] moveTile applied motor speed left=99 right=100 (+25.2 ms)
2026-07-02 09:45:03,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.753835] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:03,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.755224] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:45:03,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.759637] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:03,093 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.30000000000001137 deg, practicalMoveTime: 0.24234926820261707 sec
2026-07-02 09:45:03,093 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:45:03,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.761587] moveTile loop end practicalMoveTime=0.242 (+1.9 ms)
2026-07-02 09:45:03,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.761948] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,103 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a550>
2026-07-02 09:45:03,111 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.2, S=254.9, V=255.0
2026-07-02 09:45:03,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.784367] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.7200000000000273 wallSteer=-3.1999999999999993 (+22.4 ms)
2026-07-02 09:45:03,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.804520] moveTile applied motor speed left=98 right=100 (+20.2 ms)
2026-07-02 09:45:03,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.808608] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:03,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.809770] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:45:03,148 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.815460] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:03,149 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.87 deg, practicalMoveTime: 0.29758665768230896 sec
2026-07-02 09:45:03,149 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:45:03,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.817574] moveTile loop end practicalMoveTime=0.298 (+2.1 ms)
2026-07-02 09:45:03,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.818015] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,158 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:03,165 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.5, S=255.0, V=255.0
2026-07-02 09:45:03,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.839590] moveTile calculated motor speeds left=94 right=100 gyroSteer=-0.31999999999993634 wallSteer=-4.800000000000001 (+21.6 ms)
2026-07-02 09:45:03,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.863626] moveTile applied motor speed left=94 right=100 (+24.0 ms)
2026-07-02 09:45:03,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.867901] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:03,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.868935] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:03,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.873313] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:03,206 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.3547081768193531 sec
2026-07-02 09:45:03,208 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.3 ms
2026-07-02 09:45:03,208 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.875966] moveTile loop end practicalMoveTime=0.355 (+2.7 ms)
2026-07-02 09:45:03,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.876544] moveTile loop start (+0.6 ms)
2026-07-02 09:45:03,214 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cf1da10>
2026-07-02 09:45:03,220 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:45:03,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.892589] moveTile calculated motor speeds left=95 right=100 gyroSteer=0.20000000000004547 wallSteer=-5.199999999999999 (+16.0 ms)
2026-07-02 09:45:03,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.918387] moveTile applied motor speed left=95 right=100 (+25.8 ms)
2026-07-02 09:45:03,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.922088] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:03,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.922899] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:03,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.927523] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:03,261 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.03000000000003 deg, practicalMoveTime: 0.4077742158002109 sec
2026-07-02 09:45:03,261 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:45:03,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.929548] moveTile loop end practicalMoveTime=0.408 (+2.0 ms)
2026-07-02 09:45:03,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.929908] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,271 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:03,278 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=255.0, V=255.0
2026-07-02 09:45:03,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.952567] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.759999999999991 wallSteer=-5.199999999999999 (+22.7 ms)
2026-07-02 09:45:03,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.975690] moveTile applied motor speed left=96 right=100 (+23.1 ms)
2026-07-02 09:45:03,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.979927] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:03,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.980744] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:03,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.986509] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:03,320 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9800000000000182 deg, practicalMoveTime: 0.46638919303758863 sec
2026-07-02 09:45:03,321 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:45:03,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.989374] moveTile loop end practicalMoveTime=0.466 (+2.9 ms)
2026-07-02 09:45:03,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [136.989836] moveTile loop start (+0.5 ms)
2026-07-02 09:45:03,327 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:45:03,333 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=255.0, V=255.0
2026-07-02 09:45:03,341 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.008632] moveTile calculated motor speeds left=80 right=100 gyroSteer=-1.5199999999999818 wallSteer=-17.599999999999998 (+18.8 ms)
2026-07-02 09:45:03,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.032142] moveTile applied motor speed left=80 right=100 (+23.5 ms)
2026-07-02 09:45:03,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.035930] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:03,369 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.036609] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:03,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.041714] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:03,375 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.87 deg, practicalMoveTime: 0.5202448653225369 sec
2026-07-02 09:45:03,375 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:45:03,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.043664] moveTile loop end practicalMoveTime=0.520 (+2.0 ms)
2026-07-02 09:45:03,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.044073] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,385 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:03,393 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=255.0, V=255.0
2026-07-02 09:45:03,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.065797] moveTile calculated motor speeds left=98 right=100 gyroSteer=-0.11999999999989086 wallSteer=-1.5999999999999979 (+21.7 ms)
2026-07-02 09:45:03,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.085796] moveTile applied motor speed left=98 right=100 (+20.0 ms)
2026-07-02 09:45:03,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.090597] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:45:03,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.092218] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:45:03,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.096754] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:03,430 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18999999999999773 deg, practicalMoveTime: 0.5746016182983829 sec
2026-07-02 09:45:03,430 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:45:03,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.098667] moveTile loop end practicalMoveTime=0.575 (+1.9 ms)
2026-07-02 09:45:03,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.099060] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,439 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:03,445 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=254.8, V=255.0
2026-07-02 09:45:03,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.119175] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.5199999999999818 wallSteer=-1.6000000000000014 (+20.1 ms)
2026-07-02 09:45:03,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.146182] moveTile applied motor speed left=99 right=100 (+27.0 ms)
2026-07-02 09:45:03,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.149808] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:03,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.150369] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:03,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.155840] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:03,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.633213107530177 sec
2026-07-02 09:45:03,490 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.3 ms
2026-07-02 09:45:03,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.157871] moveTile loop end practicalMoveTime=0.633 (+2.0 ms)
2026-07-02 09:45:03,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.158227] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,499 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a550>
2026-07-02 09:45:03,504 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.6, S=254.6, V=255.0
2026-07-02 09:45:03,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.178078] moveTile calculated motor speeds left=100 right=94 gyroSteer=5.400000000000091 wallSteer=0.0 (+19.9 ms)
2026-07-02 09:45:03,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.201385] moveTile applied motor speed left=100 right=94 (+23.3 ms)
2026-07-02 09:45:03,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.206694] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:03,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.207377] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:03,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.212875] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:03,546 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.6900162259844493 sec
2026-07-02 09:45:03,548 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:45:03,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.217353] moveTile loop end practicalMoveTime=0.690 (+4.5 ms)
2026-07-02 09:45:03,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.217811] moveTile loop start (+0.5 ms)
2026-07-02 09:45:03,557 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:03,562 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.3, S=255.0, V=255.0
2026-07-02 09:45:03,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.236300] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.15999999999996817 wallSteer=0.0 (+18.5 ms)
2026-07-02 09:45:03,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.257352] moveTile applied motor speed left=99 right=100 (+21.1 ms)
2026-07-02 09:45:03,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.261354] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:03,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.261896] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:03,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.266768] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:03,601 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.30000000000001137 deg, practicalMoveTime: 0.742687651718535 sec
2026-07-02 09:45:03,602 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:03,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.270346] moveTile loop end practicalMoveTime=0.743 (+3.6 ms)
2026-07-02 09:45:03,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.270750] moveTile loop start (+0.4 ms)
2026-07-02 09:45:03,612 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:03,617 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=94.4, S=254.8, V=255.0
2026-07-02 09:45:03,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.290022] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.32000000000005 wallSteer=0.0 (+19.3 ms)
2026-07-02 09:45:03,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.317237] moveTile applied motor speed left=100 right=97 (+27.2 ms)
2026-07-02 09:45:03,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.321339] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:03,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.322179] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:03,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.326489] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:03,659 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9399999999999977 deg, practicalMoveTime: 0.8001604898119944 sec
2026-07-02 09:45:03,660 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.1 ms
2026-07-02 09:45:03,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.328603] moveTile loop end practicalMoveTime=0.800 (+2.1 ms)
2026-07-02 09:45:03,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.329254] moveTile loop start (+0.7 ms)
2026-07-02 09:45:03,668 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:03,674 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:45:03,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.348197] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.079999999999927 wallSteer=0.0 (+18.9 ms)
2026-07-02 09:45:03,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.371744] moveTile applied motor speed left=95 right=100 (+23.5 ms)
2026-07-02 09:45:03,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.378830] moveTile tile color check tempTileColor=E (+7.1 ms)
2026-07-02 09:45:03,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.379543] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:03,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.386289] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:45:03,719 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.06142402683043975 CM
2026-07-02 09:45:03,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.413897] moveTile finished by time control (+27.6 ms)
2026-07-02 09:45:03,747 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.414751] moveTile start final forward adjustment (+28.5 ms)
2026-07-02 09:45:03,778 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:45:03,813 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:18.4
2026-07-02 09:45:03,912 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:16.0
2026-07-02 09:45:04,011 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:13.4
2026-07-02 09:45:04,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.698367] moveTile finished final forward adjustment (+283.6 ms)
2026-07-02 09:45:04,182 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 108.68484004173696 cm
2026-07-02 09:45:04,184 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 76.01438519628444 cm
2026-07-02 09:45:04,185 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 13.098004234431285 cm
2026-07-02 09:45:04,189 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 13.098004234431285 cm, TSD10 distance: 2.7 cm
2026-07-02 09:45:04,190 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 135.1699288102062 cm
2026-07-02 09:45:04,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.858006] moveTile updated map and detected walls (+159.6 ms)
2026-07-02 09:45:04,193 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:04,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.861565] moveTile finished (+163.2 ms)
2026-07-02 09:45:04,236 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:45:04,267 - __main__ - [main.py:110] - INFO - Current position: (24, 24, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   @   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:04,274 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [137.941700] moveTile start direction=absDirection.WEST position=(24, 24, 0) front=absDirection.SOUTH
2026-07-02 09:45:04,279 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.946851] moveTile after initial toggle check (+5.2 ms)
2026-07-02 09:45:04,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.948947] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:45:04,282 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (24, 24, 0) facing absDirection.SOUTH
2026-07-02 09:45:04,282 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [137.949873] moveTile start heading change target=90 (+0.9 ms)
2026-07-02 09:45:04,313 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 179.39 target: 90
2026-07-02 09:45:05,088 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 95.78000000000003, diff: 5.78000000000003
2026-07-02 09:45:05,140 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 91.40000000000003 deg
2026-07-02 09:45:05,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [138.808253] moveTile finished heading change (+858.4 ms)
2026-07-02 09:45:05,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [138.808821] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:45:05,141 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:45:06,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [139.841415] moveTile updated front direction (+1032.6 ms)
2026-07-02 09:45:06,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [139.865357] moveTile stopped motors before alignment (+23.9 ms)
2026-07-02 09:45:06,341 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 105.3863504627796 cm
2026-07-02 09:45:06,342 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 81.09024994474056 cm
2026-07-02 09:45:06,344 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 16.8402129521831 cm
2026-07-02 09:45:06,345 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 129.680258266956 cm
2026-07-02 09:45:06,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.015586] moveTile ready for forward move (+150.2 ms)
2026-07-02 09:45:06,377 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:06,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.046045] moveTile initialized movement targetSteps=1 (+30.5 ms)
2026-07-02 09:45:06,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.047305] moveTile loop start (+1.3 ms)
2026-07-02 09:45:06,386 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:06,392 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:06,396 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.063971] moveTile calculated motor speeds left=91 right=100 gyroSteer=-11.639999999999873 wallSteer=3.6000000000000014 (+16.7 ms)
2026-07-02 09:45:06,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.084912] moveTile applied motor speed left=91 right=100 (+20.9 ms)
2026-07-02 09:45:06,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.088829] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:06,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.089467] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:06,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.100141] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:45:06,433 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9300000000000068 deg, practicalMoveTime: 0.05577377803535354 sec
2026-07-02 09:45:06,434 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:45:06,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.102348] moveTile loop end practicalMoveTime=0.056 (+2.2 ms)
2026-07-02 09:45:06,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.102741] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,446 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:06,451 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:06,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.124722] moveTile calculated motor speeds left=92 right=100 gyroSteer=-11.319999999999936 wallSteer=3.6000000000000014 (+22.0 ms)
2026-07-02 09:45:06,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.145140] moveTile applied motor speed left=92 right=100 (+20.4 ms)
2026-07-02 09:45:06,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.149813] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:06,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.150356] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:06,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.156135] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:06,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5400000000000205 deg, practicalMoveTime: 0.11112482443468158 sec
2026-07-02 09:45:06,490 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:45:06,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.158122] moveTile loop end practicalMoveTime=0.111 (+2.0 ms)
2026-07-02 09:45:06,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.158483] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,497 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab0d0>
2026-07-02 09:45:06,503 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:06,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.177396] moveTile calculated motor speeds left=90 right=100 gyroSteer=-13.0 wallSteer=3.6000000000000014 (+18.9 ms)
2026-07-02 09:45:06,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.202936] moveTile applied motor speed left=90 right=100 (+25.5 ms)
2026-07-02 09:45:06,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.206590] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:06,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.207158] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:06,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.211904] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:06,545 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.0 deg, practicalMoveTime: 0.1666992415489394 sec
2026-07-02 09:45:06,546 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:45:06,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.214409] moveTile loop end practicalMoveTime=0.167 (+2.5 ms)
2026-07-02 09:45:06,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.214778] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,552 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aad50>
2026-07-02 09:45:06,558 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:06,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.230626] moveTile calculated motor speeds left=87 right=100 gyroSteer=-15.680000000000064 wallSteer=3.6000000000000014 (+15.8 ms)
2026-07-02 09:45:06,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.250725] moveTile applied motor speed left=87 right=100 (+20.1 ms)
2026-07-02 09:45:06,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.254687] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:06,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.255262] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:06,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.264769] moveTile ramp check isBigRamp=False (+9.5 ms)
2026-07-02 09:45:06,598 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6100000000000136 deg, practicalMoveTime: 0.21848106052328842 sec
2026-07-02 09:45:06,598 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:45:06,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.266815] moveTile loop end practicalMoveTime=0.218 (+2.0 ms)
2026-07-02 09:45:06,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.267177] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,609 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:06,616 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:45:06,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.291146] moveTile calculated motor speeds left=87 right=100 gyroSteer=-13.039999999999964 wallSteer=0.3999999999999986 (+24.0 ms)
2026-07-02 09:45:06,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.311159] moveTile applied motor speed left=87 right=100 (+20.0 ms)
2026-07-02 09:45:06,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.315292] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:06,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.316313] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:06,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.320639] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:06,654 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0200000000000387 deg, practicalMoveTime: 0.27360566695818794 sec
2026-07-02 09:45:06,655 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:45:06,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.323325] moveTile loop end practicalMoveTime=0.274 (+2.7 ms)
2026-07-02 09:45:06,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.323774] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,661 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:06,668 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:06,678 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.346037] moveTile calculated motor speeds left=85 right=100 gyroSteer=-14.3599999999999 wallSteer=0.0 (+22.3 ms)
2026-07-02 09:45:06,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.372847] moveTile applied motor speed left=85 right=100 (+26.8 ms)
2026-07-02 09:45:06,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.377738] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:45:06,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.378293] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:06,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.382858] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:06,716 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.740000000000009 deg, practicalMoveTime: 0.3352051155317935 sec
2026-07-02 09:45:06,717 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.3 ms
2026-07-02 09:45:06,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.385591] moveTile loop end practicalMoveTime=0.335 (+2.7 ms)
2026-07-02 09:45:06,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.385958] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,723 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:06,730 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:06,737 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.404388] moveTile calculated motor speeds left=80 right=100 gyroSteer=-13.480000000000018 wallSteer=-6.399999999999999 (+18.4 ms)
2026-07-02 09:45:06,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.424176] moveTile applied motor speed left=80 right=100 (+19.8 ms)
2026-07-02 09:45:06,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.429674] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:45:06,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.430540] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:06,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.440277] moveTile ramp check isBigRamp=False (+9.7 ms)
2026-07-02 09:45:06,773 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.11000000000001364 deg, practicalMoveTime: 0.3912994201887338 sec
2026-07-02 09:45:06,774 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.8 ms
2026-07-02 09:45:06,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.442272] moveTile loop end practicalMoveTime=0.391 (+2.0 ms)
2026-07-02 09:45:06,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.442633] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,781 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:06,786 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:06,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.460657] moveTile calculated motor speeds left=85 right=100 gyroSteer=-7.519999999999982 wallSteer=-6.799999999999997 (+18.0 ms)
2026-07-02 09:45:06,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.481302] moveTile applied motor speed left=85 right=100 (+20.6 ms)
2026-07-02 09:45:06,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.485151] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:06,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.485698] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:06,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.491220] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:06,825 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7800000000000296 deg, practicalMoveTime: 0.4419579583754133 sec
2026-07-02 09:45:06,826 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:45:06,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.494416] moveTile loop end practicalMoveTime=0.442 (+3.2 ms)
2026-07-02 09:45:06,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.494832] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,833 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:06,839 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:06,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.516494] moveTile calculated motor speeds left=86 right=100 gyroSteer=-7.039999999999964 wallSteer=-6.799999999999997 (+21.7 ms)
2026-07-02 09:45:06,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.543717] moveTile applied motor speed left=86 right=100 (+27.2 ms)
2026-07-02 09:45:06,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.547557] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:06,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.548339] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:06,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.552934] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:06,886 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8799999999999955 deg, practicalMoveTime: 0.5020263942043279 sec
2026-07-02 09:45:06,887 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:45:06,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.555002] moveTile loop end practicalMoveTime=0.502 (+2.1 ms)
2026-07-02 09:45:06,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.555367] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,895 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:06,902 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:06,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.574081] moveTile calculated motor speeds left=91 right=100 gyroSteer=-0.7599999999999909 wallSteer=-7.600000000000001 (+18.7 ms)
2026-07-02 09:45:06,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.600121] moveTile applied motor speed left=91 right=100 (+26.0 ms)
2026-07-02 09:45:06,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.604985] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:45:06,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.605663] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:06,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.611220] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:06,945 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.5601485930263057 sec
2026-07-02 09:45:06,946 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:45:06,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.614487] moveTile loop end practicalMoveTime=0.560 (+3.3 ms)
2026-07-02 09:45:06,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.614893] moveTile loop start (+0.4 ms)
2026-07-02 09:45:06,953 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:06,960 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:06,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.637431] moveTile calculated motor speeds left=86 right=100 gyroSteer=-4.879999999999882 wallSteer=-8.399999999999999 (+22.5 ms)
2026-07-02 09:45:06,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.661215] moveTile applied motor speed left=86 right=100 (+23.8 ms)
2026-07-02 09:45:06,997 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.665103] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:06,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.665768] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:07,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.671040] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:45:07,004 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5900000000000318 deg, practicalMoveTime: 0.6181615789023576 sec
2026-07-02 09:45:07,005 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:45:07,005 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.673142] moveTile loop end practicalMoveTime=0.618 (+2.1 ms)
2026-07-02 09:45:07,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.673512] moveTile loop start (+0.4 ms)
2026-07-02 09:45:07,011 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:07,020 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:07,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.693390] moveTile calculated motor speeds left=89 right=100 gyroSteer=-2.0799999999999272 wallSteer=-8.399999999999999 (+19.9 ms)
2026-07-02 09:45:07,046 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.713819] moveTile applied motor speed left=89 right=100 (+20.4 ms)
2026-07-02 09:45:07,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.718134] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:07,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.718684] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:07,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.724595] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:07,058 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.6710369359924517 sec
2026-07-02 09:45:07,058 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:45:07,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.726520] moveTile loop end practicalMoveTime=0.671 (+1.9 ms)
2026-07-02 09:45:07,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.726878] moveTile loop start (+0.4 ms)
2026-07-02 09:45:07,064 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:07,072 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:07,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.745950] moveTile calculated motor speeds left=93 right=100 gyroSteer=1.0399999999999636 wallSteer=-8.0 (+19.1 ms)
2026-07-02 09:45:07,099 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.766460] moveTile applied motor speed left=93 right=100 (+20.5 ms)
2026-07-02 09:45:07,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.771037] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:07,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.772166] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:07,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.778572] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:45:07,112 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.93 deg, practicalMoveTime: 0.7246991960534651 sec
2026-07-02 09:45:07,113 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:45:07,114 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.781883] moveTile loop end practicalMoveTime=0.725 (+3.3 ms)
2026-07-02 09:45:07,114 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.782404] moveTile loop start (+0.5 ms)
2026-07-02 09:45:07,127 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab050>
2026-07-02 09:45:07,134 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:07,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.814548] moveTile calculated motor speeds left=91 right=100 gyroSteer=0.4800000000000182 wallSteer=-8.8 (+32.1 ms)
2026-07-02 09:45:07,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.834705] moveTile applied motor speed left=91 right=100 (+20.2 ms)
2026-07-02 09:45:07,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.838751] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:07,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.839833] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:07,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.845682] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:07,179 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4700000000000273 deg, practicalMoveTime: 0.7900251192868466 sec
2026-07-02 09:45:07,179 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.7 ms
2026-07-02 09:45:07,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.847651] moveTile loop end practicalMoveTime=0.790 (+2.0 ms)
2026-07-02 09:45:07,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.848127] moveTile loop start (+0.5 ms)
2026-07-02 09:45:07,186 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:07,194 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:07,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.873961] moveTile calculated motor speeds left=100 right=99 gyroSteer=9.079999999999927 wallSteer=-8.8 (+25.8 ms)
2026-07-02 09:45:07,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.900634] moveTile applied motor speed left=100 right=99 (+26.7 ms)
2026-07-02 09:45:07,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.905073] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:07,238 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.905870] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:07,243 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.911360] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:07,244 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.74 deg, practicalMoveTime: 0.8549842149383815 sec
2026-07-02 09:45:07,245 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.6 ms
2026-07-02 09:45:07,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.913283] moveTile loop end practicalMoveTime=0.855 (+1.9 ms)
2026-07-02 09:45:07,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.913642] moveTile loop start (+0.4 ms)
2026-07-02 09:45:07,253 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:07,259 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:07,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.933844] moveTile calculated motor speeds left=96 right=100 gyroSteer=5.440000000000055 wallSteer=-8.8 (+20.2 ms)
2026-07-02 09:45:07,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.956687] moveTile applied motor speed left=96 right=100 (+22.8 ms)
2026-07-02 09:45:07,295 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.962523] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:45:07,295 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.963305] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:07,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.968447] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:07,301 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.3574196405890246 CM
2026-07-02 09:45:07,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.988932] moveTile finished by time control (+20.5 ms)
2026-07-02 09:45:07,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [140.990162] moveTile start final forward adjustment (+21.7 ms)
2026-07-02 09:45:07,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.024955] moveTile finished final forward adjustment (+34.8 ms)
2026-07-02 09:45:07,525 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 13.699999809265137 cm
2026-07-02 09:45:07,527 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 111.27494473670302 cm
2026-07-02 09:45:07,528 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 18.099998474121094 cm
2026-07-02 09:45:07,530 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 98.9663687134472 cm
2026-07-02 09:45:07,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.200081] moveTile updated map and detected walls (+175.1 ms)
2026-07-02 09:45:07,535 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:07,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.203472] moveTile finished (+178.5 ms)
2026-07-02 09:45:07,575 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (3, 3)
2026-07-02 09:45:07,607 - __main__ - [main.py:110] - INFO - Current position: (23, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   @   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:07,616 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [141.283707] moveTile start direction=absDirection.WEST position=(23, 24, 0) front=absDirection.WEST
2026-07-02 09:45:07,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.290502] moveTile after initial toggle check (+6.8 ms)
2026-07-02 09:45:07,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.294349] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+3.8 ms)
2026-07-02 09:45:07,627 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (23, 24, 0) facing absDirection.WEST
2026-07-02 09:45:07,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.295316] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:45:07,654 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 91.07 target: 90
2026-07-02 09:45:07,674 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 91.07, diff: 1.0699999999999932
2026-07-02 09:45:07,723 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 91.03000000000003 deg
2026-07-02 09:45:07,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.391403] moveTile finished heading change (+96.1 ms)
2026-07-02 09:45:07,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.391856] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:07,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.392368] moveTile updated front direction (+0.5 ms)
2026-07-02 09:45:07,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.412347] moveTile stopped motors before alignment (+20.0 ms)
2026-07-02 09:45:07,893 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 13.799999237060547 cm
2026-07-02 09:45:07,894 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 111.32815409764414 cm
2026-07-02 09:45:07,896 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 18.08897244409625 cm
2026-07-02 09:45:07,898 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 99.2576230008525 cm
2026-07-02 09:45:07,900 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.568104] moveTile ready for forward move (+155.8 ms)
2026-07-02 09:45:07,932 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:07,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.601057] moveTile initialized movement targetSteps=1 (+33.0 ms)
2026-07-02 09:45:07,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.602338] moveTile loop start (+1.3 ms)
2026-07-02 09:45:07,941 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aae90>
2026-07-02 09:45:07,947 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:45:07,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.621826] moveTile calculated motor speeds left=89 right=100 gyroSteer=0.7200000000000273 wallSteer=-11.600000000000001 (+19.5 ms)
2026-07-02 09:45:07,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.644441] moveTile applied motor speed left=89 right=100 (+22.6 ms)
2026-07-02 09:45:07,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.649151] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:07,982 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.650001] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:07,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.654697] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:07,988 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.6 deg, practicalMoveTime: 0.05516180077837417 sec
2026-07-02 09:45:07,988 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:45:07,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.656677] moveTile loop end practicalMoveTime=0.055 (+2.0 ms)
2026-07-02 09:45:07,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.657045] moveTile loop start (+0.4 ms)
2026-07-02 09:45:07,995 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:08,001 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:45:08,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.677563] moveTile calculated motor speeds left=95 right=100 gyroSteer=2.759999999999991 wallSteer=-7.199999999999999 (+20.5 ms)
2026-07-02 09:45:08,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.697642] moveTile applied motor speed left=95 right=100 (+20.1 ms)
2026-07-02 09:45:08,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.701711] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:08,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.702471] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:08,039 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.707352] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:08,041 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2400000000000091 deg, practicalMoveTime: 0.10782728760944249 sec
2026-07-02 09:45:08,042 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:45:08,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.710168] moveTile loop end practicalMoveTime=0.108 (+2.8 ms)
2026-07-02 09:45:08,043 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.710568] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,053 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a9990>
2026-07-02 09:45:08,059 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.4, S=255.0, V=255.0
2026-07-02 09:45:08,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.732690] moveTile calculated motor speeds left=99 right=100 gyroSteer=6.559999999999945 wallSteer=-7.199999999999999 (+22.1 ms)
2026-07-02 09:45:08,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.752309] moveTile applied motor speed left=99 right=100 (+19.6 ms)
2026-07-02 09:45:08,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.755937] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:08,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.756497] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:08,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.763291] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:08,097 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.39000000000004 deg, practicalMoveTime: 0.16275366941854671 sec
2026-07-02 09:45:08,097 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:45:08,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.765764] moveTile loop end practicalMoveTime=0.163 (+2.5 ms)
2026-07-02 09:45:08,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.766126] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,104 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab010>
2026-07-02 09:45:08,110 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.3, S=255.0, V=255.0
2026-07-02 09:45:08,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.787338] moveTile calculated motor speeds left=93 right=100 gyroSteer=5.440000000000055 wallSteer=-11.600000000000001 (+21.2 ms)
2026-07-02 09:45:08,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.807283] moveTile applied motor speed left=93 right=100 (+19.9 ms)
2026-07-02 09:45:08,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.812188] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:45:08,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.813362] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:45:08,152 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.819498] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:08,153 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.29 deg, practicalMoveTime: 0.21786084631740693 sec
2026-07-02 09:45:08,153 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:45:08,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.821614] moveTile loop end practicalMoveTime=0.218 (+2.1 ms)
2026-07-02 09:45:08,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.822047] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,161 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab0d0>
2026-07-02 09:45:08,166 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:45:08,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.841864] moveTile calculated motor speeds left=95 right=100 gyroSteer=6.240000000000009 wallSteer=-10.8 (+19.8 ms)
2026-07-02 09:45:08,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.861865] moveTile applied motor speed left=95 right=100 (+20.0 ms)
2026-07-02 09:45:08,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.866693] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:45:08,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.867547] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:08,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.873982] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:45:08,207 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.82000000000005 deg, practicalMoveTime: 0.2717398414509755 sec
2026-07-02 09:45:08,208 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:45:08,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.876571] moveTile loop end practicalMoveTime=0.272 (+2.6 ms)
2026-07-02 09:45:08,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.877036] moveTile loop start (+0.5 ms)
2026-07-02 09:45:08,218 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab110>
2026-07-02 09:45:08,223 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.5, S=255.0, V=255.0
2026-07-02 09:45:08,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.897248] moveTile calculated motor speeds left=95 right=100 gyroSteer=6.360000000000127 wallSteer=-11.2 (+20.2 ms)
2026-07-02 09:45:08,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.917961] moveTile applied motor speed left=95 right=100 (+20.7 ms)
2026-07-02 09:45:08,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.921966] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:08,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.922574] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:08,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.928597] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:45:08,263 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.52000000000004 deg, practicalMoveTime: 0.3267498986717806 sec
2026-07-02 09:45:08,264 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:45:08,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.932542] moveTile loop end practicalMoveTime=0.327 (+3.9 ms)
2026-07-02 09:45:08,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.932922] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,277 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:08,284 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:45:08,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.960800] moveTile calculated motor speeds left=97 right=100 gyroSteer=8.400000000000091 wallSteer=-10.8 (+27.9 ms)
2026-07-02 09:45:08,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.981834] moveTile applied motor speed left=97 right=100 (+21.0 ms)
2026-07-02 09:45:08,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.985864] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:08,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.986440] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:08,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.990964] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:08,324 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.93 deg, practicalMoveTime: 0.38664465415769467 sec
2026-07-02 09:45:08,325 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.1 ms
2026-07-02 09:45:08,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.993864] moveTile loop end practicalMoveTime=0.387 (+2.9 ms)
2026-07-02 09:45:08,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [141.994317] moveTile loop start (+0.5 ms)
2026-07-02 09:45:08,332 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:08,338 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=255.0
2026-07-02 09:45:08,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.013410] moveTile calculated motor speeds left=100 right=98 gyroSteer=12.319999999999936 wallSteer=-10.8 (+19.1 ms)
2026-07-02 09:45:08,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.035924] moveTile applied motor speed left=100 right=98 (+22.5 ms)
2026-07-02 09:45:08,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.039715] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:08,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.040507] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:08,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.045578] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:08,379 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.040000000000020464 deg, practicalMoveTime: 0.4401648437518651 sec
2026-07-02 09:45:08,379 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:45:08,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.047659] moveTile loop end practicalMoveTime=0.440 (+2.1 ms)
2026-07-02 09:45:08,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.048137] moveTile loop start (+0.5 ms)
2026-07-02 09:45:08,390 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab0d0>
2026-07-02 09:45:08,397 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:45:08,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.073189] moveTile calculated motor speeds left=96 right=100 gyroSteer=7.039999999999964 wallSteer=-10.400000000000002 (+25.1 ms)
2026-07-02 09:45:08,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.094009] moveTile applied motor speed left=96 right=100 (+20.8 ms)
2026-07-02 09:45:08,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.098476] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:45:08,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.099654] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:45:08,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.106120] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:45:08,439 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.37 deg, practicalMoveTime: 0.4999275234085945 sec
2026-07-02 09:45:08,440 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.4 ms
2026-07-02 09:45:08,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.108130] moveTile loop end practicalMoveTime=0.500 (+2.0 ms)
2026-07-02 09:45:08,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.108537] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,445 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:08,452 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.7, S=255.0, V=255.0
2026-07-02 09:45:08,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.127257] moveTile calculated motor speeds left=98 right=100 gyroSteer=5.960000000000036 wallSteer=-7.199999999999999 (+18.7 ms)
2026-07-02 09:45:08,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.146924] moveTile applied motor speed left=98 right=100 (+19.7 ms)
2026-07-02 09:45:08,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.150537] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:08,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.151142] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:08,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.158704] moveTile ramp check isBigRamp=False (+7.6 ms)
2026-07-02 09:45:08,492 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4500000000000455 deg, practicalMoveTime: 0.5519388395872673 sec
2026-07-02 09:45:08,492 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:45:08,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.160899] moveTile loop end practicalMoveTime=0.552 (+2.2 ms)
2026-07-02 09:45:08,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.161285] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,503 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a9910>
2026-07-02 09:45:08,510 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:45:08,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.182611] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.759999999999991 wallSteer=-7.199999999999999 (+21.3 ms)
2026-07-02 09:45:08,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.209892] moveTile applied motor speed left=96 right=100 (+27.3 ms)
2026-07-02 09:45:08,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.214476] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:08,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.215118] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:08,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.223400] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:45:08,557 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4399999999999977 deg, practicalMoveTime: 0.6160205261686987 sec
2026-07-02 09:45:08,557 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.7 ms
2026-07-02 09:45:08,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.225571] moveTile loop end practicalMoveTime=0.616 (+2.2 ms)
2026-07-02 09:45:08,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.225998] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,566 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:08,572 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=255.0
2026-07-02 09:45:08,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.245107] moveTile calculated motor speeds left=99 right=100 gyroSteer=6.600000000000136 wallSteer=-6.800000000000001 (+19.1 ms)
2026-07-02 09:45:08,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.271625] moveTile applied motor speed left=99 right=100 (+26.5 ms)
2026-07-02 09:45:08,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.275383] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:08,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.275908] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:08,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.280435] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:08,614 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.40000000000003 deg, practicalMoveTime: 0.6724079581510161 sec
2026-07-02 09:45:08,615 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:45:08,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.283325] moveTile loop end practicalMoveTime=0.672 (+2.9 ms)
2026-07-02 09:45:08,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.283742] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,626 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aaf90>
2026-07-02 09:45:08,631 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=255.0
2026-07-02 09:45:08,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.304629] moveTile calculated motor speeds left=97 right=100 gyroSteer=4.720000000000027 wallSteer=-7.199999999999999 (+20.9 ms)
2026-07-02 09:45:08,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.324842] moveTile applied motor speed left=97 right=100 (+20.2 ms)
2026-07-02 09:45:08,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.328523] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:08,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.329109] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:08,667 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.335048] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:08,669 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.76000000000005 deg, practicalMoveTime: 0.7260271109319355 sec
2026-07-02 09:45:08,669 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:45:08,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.337512] moveTile loop end practicalMoveTime=0.726 (+2.5 ms)
2026-07-02 09:45:08,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.337877] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,678 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a9910>
2026-07-02 09:45:08,685 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:45:08,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.359886] moveTile calculated motor speeds left=99 right=100 gyroSteer=6.279999999999973 wallSteer=-6.800000000000001 (+22.0 ms)
2026-07-02 09:45:08,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.380282] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:45:08,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.386507] moveTile tile color check tempTileColor=E (+6.2 ms)
2026-07-02 09:45:08,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.387882] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:45:08,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.393613] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:08,727 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.32000000000005 deg, practicalMoveTime: 0.7834054617819675 sec
2026-07-02 09:45:08,727 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.1 ms
2026-07-02 09:45:08,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.395519] moveTile loop end practicalMoveTime=0.783 (+1.9 ms)
2026-07-02 09:45:08,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.395883] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,734 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:08,740 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=255.0
2026-07-02 09:45:08,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.413400] moveTile calculated motor speeds left=93 right=100 gyroSteer=4.519999999999982 wallSteer=-11.2 (+17.5 ms)
2026-07-02 09:45:08,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.436490] moveTile applied motor speed left=93 right=100 (+23.1 ms)
2026-07-02 09:45:08,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.440473] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:08,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.441162] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:08,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.448427] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:45:08,782 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.87 deg, practicalMoveTime: 0.8378134424826896 sec
2026-07-02 09:45:08,782 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:45:08,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.450732] moveTile loop end practicalMoveTime=0.838 (+2.3 ms)
2026-07-02 09:45:08,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.451146] moveTile loop start (+0.4 ms)
2026-07-02 09:45:08,789 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a9950>
2026-07-02 09:45:08,794 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.9, S=255.0, V=255.0
2026-07-02 09:45:08,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.466935] moveTile calculated motor speeds left=95 right=100 gyroSteer=7.160000000000082 wallSteer=-11.2 (+15.8 ms)
2026-07-02 09:45:08,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.492585] moveTile applied motor speed left=95 right=100 (+25.7 ms)
2026-07-02 09:45:08,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.496212] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:08,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.496714] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:08,835 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.502507] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:08,836 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.12834407357086872 CM
2026-07-02 09:45:08,857 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.525259] moveTile finished by time control (+22.8 ms)
2026-07-02 09:45:08,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.525918] moveTile start final forward adjustment (+23.4 ms)
2026-07-02 09:45:08,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.555036] moveTile finished final forward adjustment (+29.1 ms)
2026-07-02 09:45:09,045 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 14.100000381469727 cm
2026-07-02 09:45:09,046 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 142.80402346990405 cm
2026-07-02 09:45:09,047 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.797290118018644 cm
2026-07-02 09:45:09,047 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 69.54630038231275 cm
2026-07-02 09:45:09,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.719206] moveTile updated map and detected walls (+164.2 ms)
2026-07-02 09:45:09,055 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:09,056 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.723933] moveTile finished (+168.9 ms)
2026-07-02 09:45:09,097 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (2, 4)
2026-07-02 09:45:09,126 - __main__ - [main.py:110] - INFO - Current position: (22, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   @   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:09,137 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [142.804793] moveTile start direction=absDirection.WEST position=(22, 24, 0) front=absDirection.WEST
2026-07-02 09:45:09,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.817016] moveTile after initial toggle check (+12.2 ms)
2026-07-02 09:45:09,152 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.820276] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+3.3 ms)
2026-07-02 09:45:09,153 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (22, 24, 0) facing absDirection.WEST
2026-07-02 09:45:09,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.821488] moveTile start heading change target=90 (+1.2 ms)
2026-07-02 09:45:09,180 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 90.34000000000003 target: 90
2026-07-02 09:45:09,199 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 90.34000000000003, diff: 0.34000000000003183
2026-07-02 09:45:09,243 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.75 deg
2026-07-02 09:45:09,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.911913] moveTile finished heading change (+90.4 ms)
2026-07-02 09:45:09,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.912432] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:09,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.912838] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:09,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [142.939743] moveTile stopped motors before alignment (+26.9 ms)
2026-07-02 09:45:09,444 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 14.0 cm
2026-07-02 09:45:09,445 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 141.81356750370597 cm
2026-07-02 09:45:09,446 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.689218400712686 cm
2026-07-02 09:45:09,447 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 69.27911633665992 cm
2026-07-02 09:45:09,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.118733] moveTile ready for forward move (+179.0 ms)
2026-07-02 09:45:09,486 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:09,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.154492] moveTile initialized movement targetSteps=1 (+35.8 ms)
2026-07-02 09:45:09,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.155753] moveTile loop start (+1.3 ms)
2026-07-02 09:45:09,496 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:09,503 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=255.0
2026-07-02 09:45:09,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.176746] moveTile calculated motor speeds left=93 right=100 gyroSteer=0.12000000000011823 wallSteer=-6.399999999999999 (+21.0 ms)
2026-07-02 09:45:09,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.204406] moveTile applied motor speed left=93 right=100 (+27.7 ms)
2026-07-02 09:45:09,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.208879] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:45:09,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.209810] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:09,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.216201] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:45:09,549 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.14000000000004 deg, practicalMoveTime: 0.06331803341309764 sec
2026-07-02 09:45:09,550 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.9 ms
2026-07-02 09:45:09,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.218198] moveTile loop end practicalMoveTime=0.063 (+2.0 ms)
2026-07-02 09:45:09,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.218589] moveTile loop start (+0.4 ms)
2026-07-02 09:45:09,557 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:09,562 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:45:09,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.234801] moveTile calculated motor speeds left=88 right=100 gyroSteer=-0.9600000000000364 wallSteer=-10.400000000000002 (+16.2 ms)
2026-07-02 09:45:09,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.261000] moveTile applied motor speed left=88 right=100 (+26.2 ms)
2026-07-02 09:45:09,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.265126] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:09,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.265912] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:09,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.272261] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:09,605 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.38 deg, practicalMoveTime: 0.11876737205665124 sec
2026-07-02 09:45:09,606 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.6 ms
2026-07-02 09:45:09,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.274793] moveTile loop end practicalMoveTime=0.119 (+2.5 ms)
2026-07-02 09:45:09,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.275243] moveTile loop start (+0.5 ms)
2026-07-02 09:45:09,614 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:09,620 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:09,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.293680] moveTile calculated motor speeds left=85 right=100 gyroSteer=-4.039999999999964 wallSteer=-10.400000000000002 (+18.4 ms)
2026-07-02 09:45:09,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.313361] moveTile applied motor speed left=85 right=100 (+19.7 ms)
2026-07-02 09:45:09,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.320368] moveTile tile color check tempTileColor=E (+7.0 ms)
2026-07-02 09:45:09,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.321048] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:09,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.327118] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:09,660 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.33000000000004 deg, practicalMoveTime: 0.17270016586283954 sec
2026-07-02 09:45:09,662 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:45:09,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.329915] moveTile loop end practicalMoveTime=0.173 (+2.8 ms)
2026-07-02 09:45:09,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.330279] moveTile loop start (+0.4 ms)
2026-07-02 09:45:09,668 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a9a90>
2026-07-02 09:45:09,674 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:45:09,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.348373] moveTile calculated motor speeds left=91 right=100 gyroSteer=-1.8799999999998818 wallSteer=-6.800000000000001 (+18.1 ms)
2026-07-02 09:45:09,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.374616] moveTile applied motor speed left=91 right=100 (+26.2 ms)
2026-07-02 09:45:09,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.380275] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:45:09,713 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.380965] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:09,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.387527] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:45:09,721 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.20000000000004547 deg, practicalMoveTime: 0.23173367690531876 sec
2026-07-02 09:45:09,721 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:45:09,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.390354] moveTile loop end practicalMoveTime=0.232 (+2.8 ms)
2026-07-02 09:45:09,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.390805] moveTile loop start (+0.5 ms)
2026-07-02 09:45:09,736 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ceacad0>
2026-07-02 09:45:09,742 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:09,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.417438] moveTile calculated motor speeds left=89 right=100 gyroSteer=0.6800000000000637 wallSteer=-11.600000000000001 (+26.6 ms)
2026-07-02 09:45:09,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.438739] moveTile applied motor speed left=89 right=100 (+21.3 ms)
2026-07-02 09:45:09,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.444448] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:45:09,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.445068] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:09,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.450836] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:09,784 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.294172159875624 sec
2026-07-02 09:45:09,785 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.5 ms
2026-07-02 09:45:09,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.452872] moveTile loop end practicalMoveTime=0.294 (+2.0 ms)
2026-07-02 09:45:09,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.453234] moveTile loop start (+0.4 ms)
2026-07-02 09:45:09,792 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:09,798 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:09,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.479142] moveTile calculated motor speeds left=92 right=100 gyroSteer=3.5599999999999454 wallSteer=-11.2 (+25.9 ms)
2026-07-02 09:45:09,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.499995] moveTile applied motor speed left=92 right=100 (+20.9 ms)
2026-07-02 09:45:09,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.504365] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:09,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.505142] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:09,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.511420] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:09,845 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3300000000000409 deg, practicalMoveTime: 0.35437924344103244 sec
2026-07-02 09:45:09,846 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.8 ms
2026-07-02 09:45:09,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.514804] moveTile loop end practicalMoveTime=0.354 (+3.4 ms)
2026-07-02 09:45:09,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.515232] moveTile loop start (+0.4 ms)
2026-07-02 09:45:09,859 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fbfa550>
2026-07-02 09:45:09,865 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:09,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.538169] moveTile calculated motor speeds left=94 right=100 gyroSteer=5.680000000000064 wallSteer=-11.2 (+22.9 ms)
2026-07-02 09:45:09,890 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.558259] moveTile applied motor speed left=94 right=100 (+20.1 ms)
2026-07-02 09:45:09,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.561961] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:09,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.562594] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:09,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.568716] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:09,902 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.40983024261105383 sec
2026-07-02 09:45:09,902 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:45:09,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.570616] moveTile loop end practicalMoveTime=0.410 (+1.9 ms)
2026-07-02 09:45:09,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.571000] moveTile loop start (+0.4 ms)
2026-07-02 09:45:09,911 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:09,917 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:45:09,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.589421] moveTile calculated motor speeds left=100 right=90 gyroSteer=8.240000000000009 wallSteer=1.1999999999999993 (+18.4 ms)
2026-07-02 09:45:09,941 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.609014] moveTile applied motor speed left=100 right=90 (+19.6 ms)
2026-07-02 09:45:09,946 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.614370] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:45:09,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.615081] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:09,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.620561] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:09,954 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.53000000000003 deg, practicalMoveTime: 0.4615855984978542 sec
2026-07-02 09:45:09,955 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:09,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.623670] moveTile loop end practicalMoveTime=0.462 (+3.1 ms)
2026-07-02 09:45:09,957 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.624627] moveTile loop start (+1.0 ms)
2026-07-02 09:45:09,964 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:09,969 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:09,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.646099] moveTile calculated motor speeds left=100 right=87 gyroSteer=11.200000000000045 wallSteer=1.1999999999999993 (+21.5 ms)
2026-07-02 09:45:10,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.667594] moveTile applied motor speed left=100 right=87 (+21.5 ms)
2026-07-02 09:45:10,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.671458] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:10,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.672074] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:10,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.676551] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:10,010 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.5162976097707723 sec
2026-07-02 09:45:10,011 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:45:10,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.679595] moveTile loop end practicalMoveTime=0.516 (+3.0 ms)
2026-07-02 09:45:10,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.680058] moveTile loop start (+0.5 ms)
2026-07-02 09:45:10,018 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:10,025 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:10,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.700164] moveTile calculated motor speeds left=100 right=92 gyroSteer=6.2000000000000455 wallSteer=1.1999999999999993 (+20.1 ms)
2026-07-02 09:45:10,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.721221] moveTile applied motor speed left=100 right=92 (+21.1 ms)
2026-07-02 09:45:10,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.725085] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:10,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.725716] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:10,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.731808] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:10,065 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.570177229453331 sec
2026-07-02 09:45:10,066 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:45:10,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.734342] moveTile loop end practicalMoveTime=0.570 (+2.5 ms)
2026-07-02 09:45:10,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.734750] moveTile loop start (+0.4 ms)
2026-07-02 09:45:10,075 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aad50>
2026-07-02 09:45:10,081 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:10,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.755517] moveTile calculated motor speeds left=100 right=90 gyroSteer=9.440000000000055 wallSteer=-0.3999999999999986 (+20.8 ms)
2026-07-02 09:45:10,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.774838] moveTile applied motor speed left=100 right=90 (+19.3 ms)
2026-07-02 09:45:10,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.778416] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:10,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.778910] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:10,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.784633] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:10,118 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5300000000000296 deg, practicalMoveTime: 0.6222446657473462 sec
2026-07-02 09:45:10,119 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:45:10,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.786910] moveTile loop end practicalMoveTime=0.622 (+2.3 ms)
2026-07-02 09:45:10,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.787278] moveTile loop start (+0.4 ms)
2026-07-02 09:45:10,126 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab090>
2026-07-02 09:45:10,132 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:10,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.806969] moveTile calculated motor speeds left=100 right=93 gyroSteer=7.160000000000082 wallSteer=-0.3999999999999986 (+19.7 ms)
2026-07-02 09:45:10,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.828765] moveTile applied motor speed left=100 right=93 (+21.8 ms)
2026-07-02 09:45:10,165 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.832434] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:10,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.833515] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:10,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.839993] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:45:10,173 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.39000000000004 deg, practicalMoveTime: 0.6767185547391369 sec
2026-07-02 09:45:10,174 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:45:10,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.841957] moveTile loop end practicalMoveTime=0.677 (+2.0 ms)
2026-07-02 09:45:10,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.842338] moveTile loop start (+0.4 ms)
2026-07-02 09:45:10,182 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:10,188 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:10,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.862319] moveTile calculated motor speeds left=100 right=93 gyroSteer=7.039999999999964 wallSteer=-0.8000000000000007 (+20.0 ms)
2026-07-02 09:45:10,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.884665] moveTile applied motor speed left=100 right=93 (+22.3 ms)
2026-07-02 09:45:10,220 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.888283] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:10,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.888830] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:10,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.894862] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:45:10,228 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.97 deg, practicalMoveTime: 0.7309757017664053 sec
2026-07-02 09:45:10,229 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:45:10,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.896938] moveTile loop end practicalMoveTime=0.731 (+2.1 ms)
2026-07-02 09:45:10,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.897302] moveTile loop start (+0.4 ms)
2026-07-02 09:45:10,235 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a99d0>
2026-07-02 09:45:10,242 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:10,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.914685] moveTile calculated motor speeds left=100 right=96 gyroSteer=2.160000000000082 wallSteer=1.1999999999999993 (+17.4 ms)
2026-07-02 09:45:10,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.933806] moveTile applied motor speed left=100 right=96 (+19.1 ms)
2026-07-02 09:45:10,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.938150] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:10,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.938749] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:10,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.943823] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:10,277 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0 deg, practicalMoveTime: 0.7792788621052468 sec
2026-07-02 09:45:10,278 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.0 ms
2026-07-02 09:45:10,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.945798] moveTile loop end practicalMoveTime=0.779 (+2.0 ms)
2026-07-02 09:45:10,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.946172] moveTile loop start (+0.4 ms)
2026-07-02 09:45:10,288 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:10,294 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:10,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.967974] moveTile calculated motor speeds left=100 right=96 gyroSteer=2.3600000000001273 wallSteer=0.8000000000000007 (+21.8 ms)
2026-07-02 09:45:10,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.988151] moveTile applied motor speed left=100 right=96 (+20.2 ms)
2026-07-02 09:45:10,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.992761] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:10,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.993475] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:10,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [143.999220] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:10,332 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.81 deg, practicalMoveTime: 0.8340666735019899 sec
2026-07-02 09:45:10,333 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:45:10,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.001244] moveTile loop end practicalMoveTime=0.834 (+2.0 ms)
2026-07-02 09:45:10,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.001606] moveTile loop start (+0.4 ms)
2026-07-02 09:45:10,340 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ceacad0>
2026-07-02 09:45:10,347 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:10,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.022946] moveTile calculated motor speeds left=100 right=99 gyroSteer=1.6800000000000637 wallSteer=-1.1999999999999993 (+21.3 ms)
2026-07-02 09:45:10,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.044264] moveTile applied motor speed left=100 right=99 (+21.3 ms)
2026-07-02 09:45:10,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.047905] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:10,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.048453] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:10,390 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.057673] moveTile ramp check isBigRamp=False (+9.2 ms)
2026-07-02 09:45:10,391 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.013464239761265484 CM
2026-07-02 09:45:10,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.079768] moveTile finished by time control (+22.1 ms)
2026-07-02 09:45:10,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.080492] moveTile start final forward adjustment (+22.8 ms)
2026-07-02 09:45:10,444 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.111877] moveTile finished final forward adjustment (+31.4 ms)
2026-07-02 09:45:10,596 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 103.48300562834831 cm
2026-07-02 09:45:10,598 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 173.07362687769228 cm
2026-07-02 09:45:10,600 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 18.554691715373217 cm
2026-07-02 09:45:10,601 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 40.24148293224485 cm
2026-07-02 09:45:10,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.271436] moveTile updated map and detected walls (+159.6 ms)
2026-07-02 09:45:10,607 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:10,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.276281] moveTile finished (+164.4 ms)
2026-07-02 09:45:10,649 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 5)
2026-07-02 09:45:10,679 - __main__ - [main.py:110] - INFO - Current position: (21, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | U   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   @   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:10,686 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [144.353773] moveTile start direction=absDirection.NORTH position=(21, 24, 0) front=absDirection.WEST
2026-07-02 09:45:10,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.362015] moveTile after initial toggle check (+8.2 ms)
2026-07-02 09:45:10,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.364224] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:45:10,697 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (21, 24, 0) facing absDirection.WEST
2026-07-02 09:45:10,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [144.365538] moveTile start heading change target=0 (+1.3 ms)
2026-07-02 09:45:10,724 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.76999999999998 target: 0
2026-07-02 09:45:11,464 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 5.800000000000011, diff: 5.800000000000011
2026-07-02 09:45:11,513 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 0.6999999999999886 deg
2026-07-02 09:45:11,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.181196] moveTile finished heading change (+815.7 ms)
2026-07-02 09:45:11,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.181653] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:11,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.182053] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:11,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.209144] moveTile stopped motors before alignment (+27.1 ms)
2026-07-02 09:45:11,684 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 103.91958662036213 cm
2026-07-02 09:45:11,686 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 171.46468806978484 cm
2026-07-02 09:45:11,687 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 19.47768301803264 cm
2026-07-02 09:45:11,688 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 41.195153926193065 cm
2026-07-02 09:45:11,689 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.357342] moveTile start position adjustment using LiDAR for back wall. (+148.2 ms)
2026-07-02 09:45:11,713 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:11,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.553268] moveTile finished backward adjustment (+195.9 ms)
2026-07-02 09:45:11,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.631709] moveTile ready for forward move (+78.4 ms)
2026-07-02 09:45:11,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.658584] moveTile initialized movement targetSteps=1 (+26.9 ms)
2026-07-02 09:45:11,992 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.660166] moveTile loop start (+1.6 ms)
2026-07-02 09:45:11,997 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:12,003 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.2, S=167.8, V=127.1
2026-07-02 09:45:12,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.681598] moveTile calculated motor speeds left=82 right=100 gyroSteer=-17.680000000000064 wallSteer=0.0 (+21.4 ms)
2026-07-02 09:45:12,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.703147] moveTile applied motor speed left=82 right=100 (+21.5 ms)
2026-07-02 09:45:12,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.707570] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:12,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.708292] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:12,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.715206] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:12,048 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.10000000000002274 deg, practicalMoveTime: 0.05742779568054762 sec
2026-07-02 09:45:12,049 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:45:12,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.717247] moveTile loop end practicalMoveTime=0.057 (+2.0 ms)
2026-07-02 09:45:12,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.717610] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,057 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:12,063 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.0, S=166.3, V=128.6
2026-07-02 09:45:12,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.737319] moveTile calculated motor speeds left=83 right=100 gyroSteer=-16.3599999999999 wallSteer=0.0 (+19.7 ms)
2026-07-02 09:45:12,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.757295] moveTile applied motor speed left=83 right=100 (+20.0 ms)
2026-07-02 09:45:12,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.760943] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:12,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.761510] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:12,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.765987] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:12,099 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.89000000000004 deg, practicalMoveTime: 0.1076851474410671 sec
2026-07-02 09:45:12,100 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:45:12,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.769055] moveTile loop end practicalMoveTime=0.108 (+3.1 ms)
2026-07-02 09:45:12,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.769474] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,108 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab0d0>
2026-07-02 09:45:12,116 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.1, S=167.2, V=128.0
2026-07-02 09:45:12,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.789950] moveTile calculated motor speeds left=85 right=100 gyroSteer=-14.599999999999909 wallSteer=0.0 (+20.5 ms)
2026-07-02 09:45:12,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.810586] moveTile applied motor speed left=85 right=100 (+20.6 ms)
2026-07-02 09:45:12,146 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.814284] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:12,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.814926] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:12,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.822200] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:45:12,155 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.16289060310595754 sec
2026-07-02 09:45:12,156 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:45:12,157 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.824410] moveTile loop end practicalMoveTime=0.163 (+2.2 ms)
2026-07-02 09:45:12,157 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.824848] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,163 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:12,170 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.2, S=167.1, V=127.3
2026-07-02 09:45:12,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.846176] moveTile calculated motor speeds left=84 right=100 gyroSteer=-15.599999999999909 wallSteer=0.0 (+21.3 ms)
2026-07-02 09:45:12,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.867771] moveTile applied motor speed left=84 right=100 (+21.6 ms)
2026-07-02 09:45:12,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.871971] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:12,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.872948] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:12,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.879182] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:12,212 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.2192075910827176 sec
2026-07-02 09:45:12,213 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:45:12,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.882010] moveTile loop end practicalMoveTime=0.219 (+2.8 ms)
2026-07-02 09:45:12,215 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.882452] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,219 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa716d0>
2026-07-02 09:45:12,227 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.4, S=167.7, V=128.5
2026-07-02 09:45:12,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.903162] moveTile calculated motor speeds left=71 right=100 gyroSteer=-15.240000000000009 wallSteer=-13.200000000000003 (+20.7 ms)
2026-07-02 09:45:12,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.926331] moveTile applied motor speed left=71 right=100 (+23.2 ms)
2026-07-02 09:45:12,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.930478] moveTile tile color check tempTileColor=R (+4.1 ms)
2026-07-02 09:45:12,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.931250] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:12,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.937016] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:12,270 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7100000000000364 deg, practicalMoveTime: 0.2757117935862713 sec
2026-07-02 09:45:12,271 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:45:12,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.938909] moveTile loop end practicalMoveTime=0.276 (+1.9 ms)
2026-07-02 09:45:12,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.939318] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,279 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:12,285 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.0, S=166.3, V=126.8
2026-07-02 09:45:12,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.959969] moveTile calculated motor speeds left=100 right=94 gyroSteer=-8.879999999999882 wallSteer=14.0 (+20.7 ms)
2026-07-02 09:45:12,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.979795] moveTile applied motor speed left=100 right=94 (+19.8 ms)
2026-07-02 09:45:12,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.983720] moveTile tile color check tempTileColor=R (+3.9 ms)
2026-07-02 09:45:12,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.984534] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:12,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.989642] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:12,323 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.55 deg, practicalMoveTime: 0.3277531495793837 sec
2026-07-02 09:45:12,323 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:45:12,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.991613] moveTile loop end practicalMoveTime=0.328 (+2.0 ms)
2026-07-02 09:45:12,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [145.992119] moveTile loop start (+0.5 ms)
2026-07-02 09:45:12,329 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:12,335 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.3, S=167.0, V=128.5
2026-07-02 09:45:12,340 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.007932] moveTile calculated motor speeds left=100 right=84 gyroSteer=-4.2000000000000455 wallSteer=19.6 (+15.8 ms)
2026-07-02 09:45:12,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.029349] moveTile applied motor speed left=100 right=84 (+21.4 ms)
2026-07-02 09:45:12,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.033060] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:45:12,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.033632] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:12,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.040102] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:45:12,374 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.910000000000025 deg, practicalMoveTime: 0.3780092614402491 sec
2026-07-02 09:45:12,374 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.9 ms
2026-07-02 09:45:12,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.042540] moveTile loop end practicalMoveTime=0.378 (+2.4 ms)
2026-07-02 09:45:12,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.042903] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,386 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:12,392 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.1, S=166.3, V=128.3
2026-07-02 09:45:12,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.068499] moveTile calculated motor speeds left=100 right=87 gyroSteer=-4.119999999999891 wallSteer=16.800000000000004 (+25.6 ms)
2026-07-02 09:45:12,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.089052] moveTile applied motor speed left=100 right=87 (+20.6 ms)
2026-07-02 09:45:12,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.092682] moveTile tile color check tempTileColor=R (+3.6 ms)
2026-07-02 09:45:12,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.093191] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:12,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.101527] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:45:12,435 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.72 deg, practicalMoveTime: 0.43835752839359593 sec
2026-07-02 09:45:12,435 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.1 ms
2026-07-02 09:45:12,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.103488] moveTile loop end practicalMoveTime=0.438 (+2.0 ms)
2026-07-02 09:45:12,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.103846] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,443 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:12,448 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.2, S=166.5, V=129.5
2026-07-02 09:45:12,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.124609] moveTile calculated motor speeds left=100 right=88 gyroSteer=-7.039999999999964 wallSteer=18.799999999999997 (+20.8 ms)
2026-07-02 09:45:12,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.149126] moveTile applied motor speed left=100 right=88 (+24.5 ms)
2026-07-02 09:45:12,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.153246] moveTile tile color check tempTileColor=R (+4.1 ms)
2026-07-02 09:45:12,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.154037] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:12,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.158670] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:12,492 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.49484538099319797 sec
2026-07-02 09:45:12,492 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:45:12,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.160639] moveTile loop end practicalMoveTime=0.495 (+2.0 ms)
2026-07-02 09:45:12,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.161016] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,498 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:12,504 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=161.7, S=165.3, V=128.7
2026-07-02 09:45:12,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.178243] moveTile calculated motor speeds left=100 right=83 gyroSteer=5.0 wallSteer=12.0 (+17.2 ms)
2026-07-02 09:45:12,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.198223] moveTile applied motor speed left=100 right=83 (+20.0 ms)
2026-07-02 09:45:12,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.204433] moveTile tile color check tempTileColor=R (+6.2 ms)
2026-07-02 09:45:12,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.205116] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:12,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.210149] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:45:12,545 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.900000000000034 deg, practicalMoveTime: 0.5470162846111771 sec
2026-07-02 09:45:12,546 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:45:12,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.213909] moveTile loop end practicalMoveTime=0.547 (+3.8 ms)
2026-07-02 09:45:12,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.214276] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,554 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ceacad0>
2026-07-02 09:45:12,560 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.4, S=162.1, V=126.7
2026-07-02 09:45:12,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.233632] moveTile calculated motor speeds left=100 right=77 gyroSteer=10.480000000000018 wallSteer=12.0 (+19.4 ms)
2026-07-02 09:45:12,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.253794] moveTile applied motor speed left=100 right=77 (+20.2 ms)
2026-07-02 09:45:12,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.258456] moveTile tile color check tempTileColor=R (+4.7 ms)
2026-07-02 09:45:12,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.259108] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:12,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.264504] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:45:12,597 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.5988657356605319 sec
2026-07-02 09:45:12,598 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:45:12,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.266494] moveTile loop end practicalMoveTime=0.599 (+2.0 ms)
2026-07-02 09:45:12,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.266885] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,605 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:12,611 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.9, S=163.8, V=128.9
2026-07-02 09:45:12,621 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.289022] moveTile calculated motor speeds left=100 right=80 gyroSteer=5.559999999999945 wallSteer=14.4 (+22.1 ms)
2026-07-02 09:45:12,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.310886] moveTile applied motor speed left=100 right=80 (+21.9 ms)
2026-07-02 09:45:12,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.314600] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:45:12,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.315257] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:12,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.320919] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:12,654 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.07000000000005 deg, practicalMoveTime: 0.6547153226086114 sec
2026-07-02 09:45:12,655 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:45:12,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.322889] moveTile loop end practicalMoveTime=0.655 (+2.0 ms)
2026-07-02 09:45:12,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.323281] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,662 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:12,667 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.4, S=162.5, V=128.2
2026-07-02 09:45:12,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.342191] moveTile calculated motor speeds left=100 right=82 gyroSteer=3.2000000000000455 wallSteer=14.4 (+18.9 ms)
2026-07-02 09:45:12,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.361840] moveTile applied motor speed left=100 right=82 (+19.6 ms)
2026-07-02 09:45:12,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.366333] moveTile tile color check tempTileColor=R (+4.5 ms)
2026-07-02 09:45:12,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.366934] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:12,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.372625] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:12,706 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.63 deg, practicalMoveTime: 0.7062901463242041 sec
2026-07-02 09:45:12,707 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:45:12,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.375320] moveTile loop end practicalMoveTime=0.706 (+2.7 ms)
2026-07-02 09:45:12,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.375700] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,715 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:12,723 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.9, S=163.6, V=130.9
2026-07-02 09:45:12,732 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.400359] moveTile calculated motor speeds left=100 right=86 gyroSteer=-0.4800000000000182 wallSteer=14.0 (+24.7 ms)
2026-07-02 09:45:12,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.420518] moveTile applied motor speed left=100 right=86 (+20.2 ms)
2026-07-02 09:45:12,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.424745] moveTile tile color check tempTileColor=R (+4.2 ms)
2026-07-02 09:45:12,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.425807] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:12,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.431867] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:12,765 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6700000000000159 deg, practicalMoveTime: 0.7643141616279567 sec
2026-07-02 09:45:12,766 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:45:12,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.433877] moveTile loop end practicalMoveTime=0.764 (+2.0 ms)
2026-07-02 09:45:12,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.434247] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,775 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:12,782 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.2, S=161.4, V=128.6
2026-07-02 09:45:12,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.456113] moveTile calculated motor speeds left=100 right=95 gyroSteer=-6.879999999999882 wallSteer=11.2 (+21.9 ms)
2026-07-02 09:45:12,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.482299] moveTile applied motor speed left=100 right=95 (+26.2 ms)
2026-07-02 09:45:12,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.486706] moveTile tile color check tempTileColor=R (+4.4 ms)
2026-07-02 09:45:12,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.487355] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:12,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.492806] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:12,826 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9500000000000455 deg, practicalMoveTime: 0.8246279163131501 sec
2026-07-02 09:45:12,827 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.3 ms
2026-07-02 09:45:12,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.495123] moveTile loop end practicalMoveTime=0.825 (+2.3 ms)
2026-07-02 09:45:12,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.495537] moveTile loop start (+0.4 ms)
2026-07-02 09:45:12,833 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:12,839 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=131.2, S=185.9, V=183.2
2026-07-02 09:45:12,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.514451] moveTile calculated motor speeds left=100 right=93 gyroSteer=-4.440000000000055 wallSteer=10.8 (+18.9 ms)
2026-07-02 09:45:12,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.534399] moveTile applied motor speed left=100 right=93 (+19.9 ms)
2026-07-02 09:45:12,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.538140] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:45:12,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.538764] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:12,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.544989] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:12,878 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.25371771266722637 CM
2026-07-02 09:45:12,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.566289] moveTile finished by time control (+21.3 ms)
2026-07-02 09:45:12,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.566988] moveTile start final forward adjustment (+22.0 ms)
2026-07-02 09:45:12,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.597620] moveTile finished final forward adjustment (+30.6 ms)
2026-07-02 09:45:12,931 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.25371771266722637 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:12,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.599285] moveTile updated moved vertical distance 0.254 (+1.7 ms)
2026-07-02 09:45:13,076 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 73.02399099356772 cm
2026-07-02 09:45:13,079 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:45:13,080 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 79.91463012538641 cm
2026-07-02 09:45:13,082 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 50.405991735650446 cm
2026-07-02 09:45:13,083 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 12.698066491309422 cm
2026-07-02 09:45:13,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.751387] moveTile updated map and detected walls (+152.1 ms)
2026-07-02 09:45:13,086 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: R
2026-07-02 09:45:13,090 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (21, 23, 0), Tile type: R, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.NO_WALL: 1>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:45:13,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.759144] moveTile finished (+159.9 ms)
2026-07-02 09:45:13,130 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:45:13,158 - __main__ - [main.py:110] - INFO - Current position: (21, 23, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | @   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:13,168 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 20, 0)
2026-07-02 09:45:13,171 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:45:13,172 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [146.839860] moveTile start direction=absDirection.SOUTH position=(21, 23, 0) front=absDirection.NORTH
2026-07-02 09:45:13,176 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.844258] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:45:13,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.846387] moveTile after tile checks isRedTile=True isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:45:13,179 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 23, 0) facing absDirection.NORTH
2026-07-02 09:45:13,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [146.847402] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:45:13,205 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 357.61 target: 180
2026-07-02 09:45:14,797 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 185.47000000000003, diff: 5.470000000000027
2026-07-02 09:45:14,849 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.25 deg
2026-07-02 09:45:14,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [148.517851] moveTile finished heading change (+1670.4 ms)
2026-07-02 09:45:14,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [148.518340] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:14,851 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [148.518760] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:14,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [148.539968] moveTile stopped motors before alignment (+21.2 ms)
2026-07-02 09:45:15,027 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 76.6446212585539 cm
2026-07-02 09:45:15,029 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 75.41584067748077 cm
2026-07-02 09:45:15,030 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 48.67607703978148 cm
2026-07-02 09:45:15,034 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.73859504959397 cm
2026-07-02 09:45:15,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [148.702288] moveTile start position adjustment using LiDAR for front wall. (+162.3 ms)
2026-07-02 09:45:15,056 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:15,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.036242] moveTile finished backward adjustment (+334.0 ms)
2026-07-02 09:45:15,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.115226] moveTile ready for forward move (+79.0 ms)
2026-07-02 09:45:15,475 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:15,476 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.143586] moveTile initialized movement targetSteps=1 (+28.4 ms)
2026-07-02 09:45:15,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.144821] moveTile loop start (+1.2 ms)
2026-07-02 09:45:15,485 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab0d0>
2026-07-02 09:45:15,490 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.164757] moveTile calculated motor speeds left=79 right=100 gyroSteer=-17.11999999999989 wallSteer=-3.1999999999999993 (+19.9 ms)
2026-07-02 09:45:15,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.189631] moveTile applied motor speed left=79 right=100 (+24.9 ms)
2026-07-02 09:45:15,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.194312] moveTile tile color check tempTileColor=R (+4.7 ms)
2026-07-02 09:45:15,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.195143] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:15,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.201003] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:15,535 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9800000000000182 deg, practicalMoveTime: 0.05939925962593733 sec
2026-07-02 09:45:15,535 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.3 ms
2026-07-02 09:45:15,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.203933] moveTile loop end practicalMoveTime=0.059 (+2.9 ms)
2026-07-02 09:45:15,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.205016] moveTile loop start (+1.1 ms)
2026-07-02 09:45:15,542 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:15,548 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.222380] moveTile calculated motor speeds left=82 right=100 gyroSteer=-14.3599999999999 wallSteer=-3.1999999999999993 (+17.4 ms)
2026-07-02 09:45:15,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.243057] moveTile applied motor speed left=82 right=100 (+20.7 ms)
2026-07-02 09:45:15,580 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.247658] moveTile tile color check tempTileColor=R (+4.6 ms)
2026-07-02 09:45:15,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.248528] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:15,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.257245] moveTile ramp check isBigRamp=False (+8.7 ms)
2026-07-02 09:45:15,592 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.71000000000004 deg, practicalMoveTime: 0.11558616961070142 sec
2026-07-02 09:45:15,593 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:45:15,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.261107] moveTile loop end practicalMoveTime=0.116 (+3.9 ms)
2026-07-02 09:45:15,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.261476] moveTile loop start (+0.4 ms)
2026-07-02 09:45:15,603 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:15,608 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.281230] moveTile calculated motor speeds left=83 right=100 gyroSteer=-12.799999999999955 wallSteer=-3.6000000000000014 (+19.8 ms)
2026-07-02 09:45:15,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.306280] moveTile applied motor speed left=83 right=100 (+25.0 ms)
2026-07-02 09:45:15,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.310731] moveTile tile color check tempTileColor=R (+4.5 ms)
2026-07-02 09:45:15,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.311809] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:15,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.316461] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:15,650 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.17232205471791226 sec
2026-07-02 09:45:15,650 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:45:15,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.318421] moveTile loop end practicalMoveTime=0.172 (+2.0 ms)
2026-07-02 09:45:15,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.318782] moveTile loop start (+0.4 ms)
2026-07-02 09:45:15,658 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:15,664 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.338075] moveTile calculated motor speeds left=80 right=100 gyroSteer=-16.039999999999964 wallSteer=-3.6000000000000014 (+19.3 ms)
2026-07-02 09:45:15,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.363996] moveTile applied motor speed left=80 right=100 (+25.9 ms)
2026-07-02 09:45:15,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.368281] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:15,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.369640] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:45:15,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.375248] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:15,708 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4300000000000068 deg, practicalMoveTime: 0.23035484625507527 sec
2026-07-02 09:45:15,709 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:45:15,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.377135] moveTile loop end practicalMoveTime=0.230 (+1.9 ms)
2026-07-02 09:45:15,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.377510] moveTile loop start (+0.4 ms)
2026-07-02 09:45:15,715 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:15,721 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.394871] moveTile calculated motor speeds left=71 right=100 gyroSteer=-9.799999999999955 wallSteer=-18.4 (+17.4 ms)
2026-07-02 09:45:15,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.413966] moveTile applied motor speed left=71 right=100 (+19.1 ms)
2026-07-02 09:45:15,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.417998] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:15,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.418541] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:15,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.424648] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:15,758 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.44 deg, practicalMoveTime: 0.27922045304747894 sec
2026-07-02 09:45:15,758 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.6 ms
2026-07-02 09:45:15,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.426580] moveTile loop end practicalMoveTime=0.279 (+1.9 ms)
2026-07-02 09:45:15,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.427177] moveTile loop start (+0.6 ms)
2026-07-02 09:45:15,767 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:15,773 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.445706] moveTile calculated motor speeds left=86 right=100 gyroSteer=-10.279999999999973 wallSteer=-3.200000000000003 (+18.5 ms)
2026-07-02 09:45:15,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.465050] moveTile applied motor speed left=86 right=100 (+19.3 ms)
2026-07-02 09:45:15,804 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.471690] moveTile tile color check tempTileColor=E (+6.6 ms)
2026-07-02 09:45:15,804 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.472350] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:15,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.477585] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:45:15,811 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3600000000000136 deg, practicalMoveTime: 0.3315800622940393 sec
2026-07-02 09:45:15,811 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:15,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.479596] moveTile loop end practicalMoveTime=0.332 (+2.0 ms)
2026-07-02 09:45:15,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.479956] moveTile loop start (+0.4 ms)
2026-07-02 09:45:15,819 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:15,825 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.504366] moveTile calculated motor speeds left=91 right=100 gyroSteer=-5.67999999999995 wallSteer=-2.3999999999999986 (+24.4 ms)
2026-07-02 09:45:15,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.532189] moveTile applied motor speed left=91 right=100 (+27.8 ms)
2026-07-02 09:45:15,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.535859] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:15,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.536481] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:15,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.541002] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:15,874 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.94 deg, practicalMoveTime: 0.3947392550343367 sec
2026-07-02 09:45:15,875 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.9 ms
2026-07-02 09:45:15,875 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.543398] moveTile loop end practicalMoveTime=0.395 (+2.4 ms)
2026-07-02 09:45:15,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.543759] moveTile loop start (+0.4 ms)
2026-07-02 09:45:15,882 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aad90>
2026-07-02 09:45:15,888 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:15,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.563458] moveTile calculated motor speeds left=90 right=100 gyroSteer=-6.119999999999891 wallSteer=-3.1999999999999993 (+19.7 ms)
2026-07-02 09:45:15,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.582910] moveTile applied motor speed left=90 right=100 (+19.5 ms)
2026-07-02 09:45:15,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.587724] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:45:15,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.588987] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:45:15,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.594726] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:15,928 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4700000000000273 deg, practicalMoveTime: 0.44725416242686516 sec
2026-07-02 09:45:15,928 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:45:15,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.596635] moveTile loop end practicalMoveTime=0.447 (+1.9 ms)
2026-07-02 09:45:15,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.597253] moveTile loop start (+0.6 ms)
2026-07-02 09:45:15,938 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ceacad0>
2026-07-02 09:45:15,944 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:45:15,951 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.618964] moveTile calculated motor speeds left=85 right=100 gyroSteer=-6.599999999999909 wallSteer=-8.399999999999999 (+21.7 ms)
2026-07-02 09:45:15,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.641204] moveTile applied motor speed left=85 right=100 (+22.2 ms)
2026-07-02 09:45:15,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.645066] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:15,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.645879] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:15,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.653168] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:45:15,987 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2400000000000091 deg, practicalMoveTime: 0.5058125895785514 sec
2026-07-02 09:45:15,988 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.4 ms
2026-07-02 09:45:15,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.656853] moveTile loop end practicalMoveTime=0.506 (+3.7 ms)
2026-07-02 09:45:15,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.657336] moveTile loop start (+0.5 ms)
2026-07-02 09:45:15,998 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:16,004 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:45:16,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.678248] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.67999999999995 wallSteer=0.0 (+20.9 ms)
2026-07-02 09:45:16,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.703372] moveTile applied motor speed left=94 right=100 (+25.1 ms)
2026-07-02 09:45:16,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.708078] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:16,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.708723] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:16,046 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.713446] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:16,048 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7200000000000273 deg, practicalMoveTime: 0.5660435723721118 sec
2026-07-02 09:45:16,049 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:45:16,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.717860] moveTile loop end practicalMoveTime=0.566 (+4.4 ms)
2026-07-02 09:45:16,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.718338] moveTile loop start (+0.5 ms)
2026-07-02 09:45:16,056 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:16,063 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.2, S=255.0, V=254.9
2026-07-02 09:45:16,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.738371] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.67999999999995 wallSteer=0.0 (+20.0 ms)
2026-07-02 09:45:16,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.760846] moveTile applied motor speed left=94 right=100 (+22.5 ms)
2026-07-02 09:45:16,099 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.766394] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:45:16,099 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.767112] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:16,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.771733] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:16,105 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.6215642442772316 sec
2026-07-02 09:45:16,106 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:45:16,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.773861] moveTile loop end practicalMoveTime=0.622 (+2.1 ms)
2026-07-02 09:45:16,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.774231] moveTile loop start (+0.4 ms)
2026-07-02 09:45:16,113 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fe70310>
2026-07-02 09:45:16,119 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:16,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.792998] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.599999999999909 wallSteer=0.0 (+18.8 ms)
2026-07-02 09:45:16,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.812653] moveTile applied motor speed left=91 right=100 (+19.7 ms)
2026-07-02 09:45:16,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.816660] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:16,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.817239] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:16,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.822126] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:16,156 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.6722699965245997 sec
2026-07-02 09:45:16,158 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:45:16,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.826001] moveTile loop end practicalMoveTime=0.672 (+3.9 ms)
2026-07-02 09:45:16,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.826367] moveTile loop start (+0.4 ms)
2026-07-02 09:45:16,166 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab090>
2026-07-02 09:45:16,172 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:45:16,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.846298] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.960000000000036 wallSteer=0.0 (+19.9 ms)
2026-07-02 09:45:16,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.871752] moveTile applied motor speed left=91 right=100 (+25.5 ms)
2026-07-02 09:45:16,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.878188] moveTile tile color check tempTileColor=E (+6.4 ms)
2026-07-02 09:45:16,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.878919] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:16,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.884715] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:16,218 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2400000000000091 deg, practicalMoveTime: 0.7324236683938994 sec
2026-07-02 09:45:16,218 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:45:16,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.886718] moveTile loop end practicalMoveTime=0.732 (+2.0 ms)
2026-07-02 09:45:16,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.887096] moveTile loop start (+0.4 ms)
2026-07-02 09:45:16,226 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:16,232 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:45:16,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.905357] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.519999999999982 wallSteer=0.0 (+18.3 ms)
2026-07-02 09:45:16,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.928213] moveTile applied motor speed left=93 right=100 (+22.9 ms)
2026-07-02 09:45:16,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.931972] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:16,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.932691] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:16,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.942258] moveTile ramp check isBigRamp=False (+9.6 ms)
2026-07-02 09:45:16,275 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2000000000000455 deg, practicalMoveTime: 0.7894742562346638 sec
2026-07-02 09:45:16,276 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:45:16,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.944691] moveTile loop end practicalMoveTime=0.789 (+2.4 ms)
2026-07-02 09:45:16,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.945182] moveTile loop start (+0.5 ms)
2026-07-02 09:45:16,288 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aaf50>
2026-07-02 09:45:16,294 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.3, S=254.9, V=245.7
2026-07-02 09:45:16,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.966993] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.399999999999977 wallSteer=0.0 (+21.8 ms)
2026-07-02 09:45:16,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.987930] moveTile applied motor speed left=95 right=100 (+20.9 ms)
2026-07-02 09:45:16,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.992668] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:16,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.993273] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:16,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [149.998961] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:16,332 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.8453914638062462 sec
2026-07-02 09:45:16,333 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:45:16,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.001185] moveTile loop end practicalMoveTime=0.845 (+2.2 ms)
2026-07-02 09:45:16,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.001609] moveTile loop start (+0.4 ms)
2026-07-02 09:45:16,342 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:16,348 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=103.8, S=255.0, V=241.5
2026-07-02 09:45:16,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.021838] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.759999999999991 wallSteer=0.0 (+20.2 ms)
2026-07-02 09:45:16,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.047620] moveTile applied motor speed left=97 right=100 (+25.8 ms)
2026-07-02 09:45:16,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.052103] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:45:16,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.052703] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:16,392 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.059700] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:45:16,393 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.25352290132787086 CM
2026-07-02 09:45:16,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.084270] moveTile finished by time control (+24.6 ms)
2026-07-02 09:45:16,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.084934] moveTile start final forward adjustment (+25.2 ms)
2026-07-02 09:45:16,447 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:45:16,461 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:10.2
2026-07-02 09:45:16,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.149813] moveTile finished final forward adjustment (+64.9 ms)
2026-07-02 09:45:16,626 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 111.40515773342666 cm
2026-07-02 09:45:16,627 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 167.1705932606421 cm
2026-07-02 09:45:16,628 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 11.571742412203232 cm
2026-07-02 09:45:16,633 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 11.571742412203232 cm, TSD10 distance: 1.8 cm
2026-07-02 09:45:16,635 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 44.82333872841641 cm
2026-07-02 09:45:16,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.304478] moveTile updated map and detected walls (+154.7 ms)
2026-07-02 09:45:16,639 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:16,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.307930] moveTile finished (+158.1 ms)
2026-07-02 09:45:16,679 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, None)
2026-07-02 09:45:16,709 - __main__ - [main.py:110] - INFO - Current position: (21, 24, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   @   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:16,715 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [150.383154] moveTile start direction=absDirection.WEST position=(21, 24, 0) front=absDirection.SOUTH
2026-07-02 09:45:16,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.387775] moveTile after initial toggle check (+4.6 ms)
2026-07-02 09:45:16,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.390448] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.7 ms)
2026-07-02 09:45:16,723 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (21, 24, 0) facing absDirection.SOUTH
2026-07-02 09:45:16,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [150.391555] moveTile start heading change target=90 (+1.1 ms)
2026-07-02 09:45:16,749 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 178.72000000000003 target: 90
2026-07-02 09:45:17,635 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 95.25, diff: 5.25
2026-07-02 09:45:17,686 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 89.41000000000003 deg
2026-07-02 09:45:17,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [151.355261] moveTile finished heading change (+963.7 ms)
2026-07-02 09:45:17,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [151.356117] Adjustment after ramp completed (+0.9 ms)
2026-07-02 09:45:17,689 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:45:18,737 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [152.404642] moveTile updated front direction (+1048.5 ms)
2026-07-02 09:45:18,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [152.426896] moveTile stopped motors before alignment (+22.3 ms)
2026-07-02 09:45:18,930 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 107.68864534364522 cm
2026-07-02 09:45:18,931 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 172.1517309831282 cm
2026-07-02 09:45:18,932 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 16.59316336845191 cm
2026-07-02 09:45:18,934 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 41.602817326369944 cm
2026-07-02 09:45:18,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [152.605033] moveTile start position adjustment using LiDAR for front wall. (+178.1 ms)
2026-07-02 09:45:18,960 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:19,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [152.909975] moveTile finished backward adjustment (+304.9 ms)
2026-07-02 09:45:19,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [152.994278] moveTile ready for forward move (+84.3 ms)
2026-07-02 09:45:19,359 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:19,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.027891] moveTile initialized movement targetSteps=1 (+33.6 ms)
2026-07-02 09:45:19,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.029642] moveTile loop start (+1.8 ms)
2026-07-02 09:45:19,368 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:19,375 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:19,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.049289] moveTile calculated motor speeds left=89 right=100 gyroSteer=-15.920000000000073 wallSteer=5.600000000000001 (+19.6 ms)
2026-07-02 09:45:19,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.070831] moveTile applied motor speed left=89 right=100 (+21.5 ms)
2026-07-02 09:45:19,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.075236] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:19,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.075878] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:19,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.080485] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:19,414 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.66 deg, practicalMoveTime: 0.05440091669739687 sec
2026-07-02 09:45:19,415 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:45:19,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.083777] moveTile loop end practicalMoveTime=0.054 (+3.3 ms)
2026-07-02 09:45:19,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.084576] moveTile loop start (+0.8 ms)
2026-07-02 09:45:19,424 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:19,431 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:19,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.104136] moveTile calculated motor speeds left=78 right=100 gyroSteer=-21.200000000000045 wallSteer=0.0 (+19.6 ms)
2026-07-02 09:45:19,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.123815] moveTile applied motor speed left=78 right=100 (+19.7 ms)
2026-07-02 09:45:19,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.127617] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:19,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.128428] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:19,467 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.135300] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:19,468 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5300000000000296 deg, practicalMoveTime: 0.10759840142487725 sec
2026-07-02 09:45:19,470 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:45:19,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.138093] moveTile loop end practicalMoveTime=0.108 (+2.8 ms)
2026-07-02 09:45:19,471 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.138512] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,476 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f11d5d0>
2026-07-02 09:45:19,482 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:19,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.154812] moveTile calculated motor speeds left=84 right=100 gyroSteer=-19.559999999999945 wallSteer=3.6000000000000014 (+16.3 ms)
2026-07-02 09:45:19,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.180239] moveTile applied motor speed left=84 right=100 (+25.4 ms)
2026-07-02 09:45:19,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.183938] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:19,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.184623] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:19,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.189650] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:45:19,523 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.16077053470830666 sec
2026-07-02 09:45:19,523 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:45:19,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.191640] moveTile loop end practicalMoveTime=0.161 (+2.0 ms)
2026-07-02 09:45:19,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.192066] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,530 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:19,536 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:19,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.208743] moveTile calculated motor speeds left=84 right=100 gyroSteer=-17.960000000000036 wallSteer=2.8000000000000007 (+16.7 ms)
2026-07-02 09:45:19,561 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.229321] moveTile applied motor speed left=84 right=100 (+20.6 ms)
2026-07-02 09:45:19,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.234037] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:19,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.234684] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:19,572 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.240171] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:19,574 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.2100000000000364 deg, practicalMoveTime: 0.21108351175096027 sec
2026-07-02 09:45:19,574 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:45:19,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.242906] moveTile loop end practicalMoveTime=0.211 (+2.7 ms)
2026-07-02 09:45:19,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.243330] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,582 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ceacad0>
2026-07-02 09:45:19,589 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:19,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.262978] moveTile calculated motor speeds left=86 right=100 gyroSteer=-18.75999999999999 wallSteer=4.800000000000001 (+19.6 ms)
2026-07-02 09:45:19,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.287553] moveTile applied motor speed left=86 right=100 (+24.6 ms)
2026-07-02 09:45:19,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.292152] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:19,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.292952] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:19,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.297635] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:19,631 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7000000000000455 deg, practicalMoveTime: 0.26719018309574327 sec
2026-07-02 09:45:19,631 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:45:19,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.299680] moveTile loop end practicalMoveTime=0.267 (+2.0 ms)
2026-07-02 09:45:19,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.300233] moveTile loop start (+0.6 ms)
2026-07-02 09:45:19,639 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:19,646 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:19,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.322705] moveTile calculated motor speeds left=89 right=100 gyroSteer=-14.480000000000018 wallSteer=4.399999999999999 (+22.5 ms)
2026-07-02 09:45:19,676 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.344273] moveTile applied motor speed left=89 right=100 (+21.6 ms)
2026-07-02 09:45:19,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.347920] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:19,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.348515] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:19,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.352767] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:19,686 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.3217269087139105 sec
2026-07-02 09:45:19,686 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:45:19,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.354751] moveTile loop end practicalMoveTime=0.322 (+2.0 ms)
2026-07-02 09:45:19,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.355122] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,697 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:19,704 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:45:19,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.377342] moveTile calculated motor speeds left=89 right=100 gyroSteer=-14.240000000000009 wallSteer=3.6000000000000014 (+22.2 ms)
2026-07-02 09:45:19,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.397536] moveTile applied motor speed left=89 right=100 (+20.2 ms)
2026-07-02 09:45:19,734 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.401793] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:19,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.402419] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:19,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.407311] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:19,740 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.9600000000000364 deg, practicalMoveTime: 0.37569664645185735 sec
2026-07-02 09:45:19,741 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:45:19,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.409575] moveTile loop end practicalMoveTime=0.376 (+2.3 ms)
2026-07-02 09:45:19,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.409960] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,747 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:19,753 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:19,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.431047] moveTile calculated motor speeds left=86 right=100 gyroSteer=-14.200000000000045 wallSteer=0.8000000000000007 (+21.1 ms)
2026-07-02 09:45:19,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.451476] moveTile applied motor speed left=86 right=100 (+20.4 ms)
2026-07-02 09:45:19,789 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.457049] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:45:19,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.457726] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:19,794 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.462050] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:19,795 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4900000000000091 deg, practicalMoveTime: 0.429542943870862 sec
2026-07-02 09:45:19,796 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:45:19,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.464827] moveTile loop end practicalMoveTime=0.430 (+2.8 ms)
2026-07-02 09:45:19,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.465241] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,803 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:19,810 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:45:19,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.483951] moveTile calculated motor speeds left=84 right=100 gyroSteer=-11.960000000000036 wallSteer=-3.599999999999998 (+18.7 ms)
2026-07-02 09:45:19,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.504265] moveTile applied motor speed left=84 right=100 (+20.3 ms)
2026-07-02 09:45:19,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.508327] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:19,841 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.509183] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:19,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.517940] moveTile ramp check isBigRamp=False (+8.8 ms)
2026-07-02 09:45:19,851 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.9399999999999977 deg, practicalMoveTime: 0.4841440552770989 sec
2026-07-02 09:45:19,852 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:45:19,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.520135] moveTile loop end practicalMoveTime=0.484 (+2.2 ms)
2026-07-02 09:45:19,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.520563] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,858 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:19,865 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:45:19,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.539647] moveTile calculated motor speeds left=91 right=100 gyroSteer=-4.3599999999999 wallSteer=-4.0 (+19.1 ms)
2026-07-02 09:45:19,893 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.560855] moveTile applied motor speed left=91 right=100 (+21.2 ms)
2026-07-02 09:45:19,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.564471] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:19,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.564985] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:19,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.570686] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:19,904 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.5361838028200294 sec
2026-07-02 09:45:19,904 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:45:19,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.572780] moveTile loop end practicalMoveTime=0.536 (+2.1 ms)
2026-07-02 09:45:19,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.573148] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,911 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:19,917 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:45:19,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.591607] moveTile calculated motor speeds left=93 right=100 gyroSteer=-3.0 wallSteer=-3.200000000000003 (+18.5 ms)
2026-07-02 09:45:19,948 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.615982] moveTile applied motor speed left=93 right=100 (+24.4 ms)
2026-07-02 09:45:19,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.620713] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:19,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.621368] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:19,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.626770] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:45:19,960 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3100000000000023 deg, practicalMoveTime: 0.5918921906468189 sec
2026-07-02 09:45:19,961 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:45:19,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.629224] moveTile loop end practicalMoveTime=0.592 (+2.5 ms)
2026-07-02 09:45:19,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.629587] moveTile loop start (+0.4 ms)
2026-07-02 09:45:19,968 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab110>
2026-07-02 09:45:19,975 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:45:19,980 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.647574] moveTile calculated motor speeds left=100 right=96 gyroSteer=2.7200000000000273 wallSteer=0.3999999999999986 (+18.0 ms)
2026-07-02 09:45:20,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.670141] moveTile applied motor speed left=100 right=96 (+22.6 ms)
2026-07-02 09:45:20,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.673804] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:20,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.674366] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:20,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.683206] moveTile ramp check isBigRamp=False (+8.8 ms)
2026-07-02 09:45:20,016 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4700000000000273 deg, practicalMoveTime: 0.6472937976008635 sec
2026-07-02 09:45:20,017 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:45:20,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.685722] moveTile loop end practicalMoveTime=0.647 (+2.5 ms)
2026-07-02 09:45:20,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.686712] moveTile loop start (+1.0 ms)
2026-07-02 09:45:20,024 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ceacad0>
2026-07-02 09:45:20,031 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:45:20,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.704754] moveTile calculated motor speeds left=100 right=99 gyroSteer=-0.03999999999996362 wallSteer=0.3999999999999986 (+18.0 ms)
2026-07-02 09:45:20,063 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.729935] moveTile applied motor speed left=100 right=99 (+25.2 ms)
2026-07-02 09:45:20,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.736824] moveTile tile color check tempTileColor=E (+6.9 ms)
2026-07-02 09:45:20,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.737874] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:20,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.742598] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:20,076 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.7059856774869347 sec
2026-07-02 09:45:20,077 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:45:20,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.744978] moveTile loop end practicalMoveTime=0.706 (+2.4 ms)
2026-07-02 09:45:20,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.745409] moveTile loop start (+0.4 ms)
2026-07-02 09:45:20,083 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:20,090 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:45:20,096 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.763879] moveTile calculated motor speeds left=100 right=96 gyroSteer=2.2000000000000455 wallSteer=0.8000000000000007 (+18.5 ms)
2026-07-02 09:45:20,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.786374] moveTile applied motor speed left=100 right=96 (+22.5 ms)
2026-07-02 09:45:20,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.790081] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:20,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.790711] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:20,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.795498] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:45:20,129 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0500000000000114 deg, practicalMoveTime: 0.7581178733616807 sec
2026-07-02 09:45:20,129 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:45:20,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.797650] moveTile loop end practicalMoveTime=0.758 (+2.2 ms)
2026-07-02 09:45:20,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.798027] moveTile loop start (+0.4 ms)
2026-07-02 09:45:20,135 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:20,142 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:20,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.815169] moveTile calculated motor speeds left=96 right=100 gyroSteer=-4.079999999999927 wallSteer=0.3999999999999986 (+17.1 ms)
2026-07-02 09:45:20,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.836813] moveTile applied motor speed left=96 right=100 (+21.6 ms)
2026-07-02 09:45:20,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.842091] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:20,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.842921] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:20,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.850955] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:45:20,184 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.330000000000041 deg, practicalMoveTime: 0.8128368809218516 sec
2026-07-02 09:45:20,185 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:45:20,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.853318] moveTile loop end practicalMoveTime=0.813 (+2.4 ms)
2026-07-02 09:45:20,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.853720] moveTile loop start (+0.4 ms)
2026-07-02 09:45:20,194 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7fa580d990>
2026-07-02 09:45:20,201 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:20,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.875027] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.480000000000018 wallSteer=2.3999999999999986 (+21.3 ms)
2026-07-02 09:45:20,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.897093] moveTile applied motor speed left=95 right=100 (+22.1 ms)
2026-07-02 09:45:20,234 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.901724] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:20,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.902461] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:20,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.906960] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:20,240 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.4956068714432321 CM
2026-07-02 09:45:20,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.930958] moveTile finished by time control (+24.0 ms)
2026-07-02 09:45:20,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [153.931642] moveTile start final forward adjustment (+24.7 ms)
2026-07-02 09:45:20,294 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:45:20,325 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:14.8
2026-07-02 09:45:20,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [154.013601] moveTile finished final forward adjustment (+82.0 ms)
2026-07-02 09:45:20,497 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 225.46257667530554 cm
2026-07-02 09:45:20,498 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 198.369776616442 cm
2026-07-02 09:45:20,499 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 18.529221764524586 cm
2026-07-02 09:45:20,500 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 14.12836593938591 cm
2026-07-02 09:45:20,504 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 14.12836593938591 cm, TSD10 distance: 3.1 cm
2026-07-02 09:45:20,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [154.172612] moveTile updated map and detected walls (+159.0 ms)
2026-07-02 09:45:20,508 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:20,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [154.176330] moveTile finished (+162.7 ms)
2026-07-02 09:45:20,546 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 6)
2026-07-02 09:45:20,576 - __main__ - [main.py:110] - INFO - Current position: (20, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| @   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:20,583 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [154.250920] moveTile start direction=absDirection.NORTH position=(20, 24, 0) front=absDirection.WEST
2026-07-02 09:45:20,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [154.256667] moveTile after initial toggle check (+5.7 ms)
2026-07-02 09:45:20,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [154.259239] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.6 ms)
2026-07-02 09:45:20,592 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 24, 0) facing absDirection.WEST
2026-07-02 09:45:20,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [154.260236] moveTile start heading change target=0 (+1.0 ms)
2026-07-02 09:45:20,620 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 87.78000000000003 target: 0
2026-07-02 09:45:21,557 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 4.579999999999984, diff: 4.579999999999984
2026-07-02 09:45:21,608 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 1.0500000000000114 deg
2026-07-02 09:45:21,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.276240] moveTile finished heading change (+1016.0 ms)
2026-07-02 09:45:21,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.276681] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:45:21,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.277155] moveTile updated front direction (+0.5 ms)
2026-07-02 09:45:21,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.300605] moveTile stopped motors before alignment (+23.4 ms)
2026-07-02 09:45:21,809 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 223.79286959577354 cm
2026-07-02 09:45:21,811 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 196.48022744225793 cm
2026-07-02 09:45:21,812 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 19.21134235476064 cm
2026-07-02 09:45:21,813 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.09932108202035 cm
2026-07-02 09:45:21,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.481418] moveTile start position adjustment using LiDAR for back wall. (+180.8 ms)
2026-07-02 09:45:21,833 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:22,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.703297] moveTile finished backward adjustment (+221.9 ms)
2026-07-02 09:45:22,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.783666] moveTile ready for forward move (+80.4 ms)
2026-07-02 09:45:22,147 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:22,148 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.815786] moveTile initialized movement targetSteps=1 (+32.1 ms)
2026-07-02 09:45:22,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.817390] moveTile loop start (+1.6 ms)
2026-07-02 09:45:22,157 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:22,163 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.8, V=164.5
2026-07-02 09:45:22,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.835020] moveTile calculated motor speeds left=95 right=100 gyroSteer=-9.0 wallSteer=4.399999999999999 (+17.6 ms)
2026-07-02 09:45:22,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.855604] moveTile applied motor speed left=95 right=100 (+20.6 ms)
2026-07-02 09:45:22,198 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.865552] moveTile tile color check tempTileColor=E (+9.9 ms)
2026-07-02 09:45:22,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.866416] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:22,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.877076] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:45:22,210 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7800000000000296 deg, practicalMoveTime: 0.06305753944829354 sec
2026-07-02 09:45:22,211 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.2 ms
2026-07-02 09:45:22,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.879165] moveTile loop end practicalMoveTime=0.063 (+2.1 ms)
2026-07-02 09:45:22,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.879528] moveTile loop start (+0.4 ms)
2026-07-02 09:45:22,217 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:22,224 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.8, V=163.5
2026-07-02 09:45:22,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.899752] moveTile calculated motor speeds left=98 right=100 gyroSteer=-6.039999999999964 wallSteer=4.399999999999999 (+20.2 ms)
2026-07-02 09:45:22,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.920152] moveTile applied motor speed left=98 right=100 (+20.4 ms)
2026-07-02 09:45:22,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.924718] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:22,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.925787] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:22,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.931964] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:22,265 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.82000000000005 deg, practicalMoveTime: 0.11741479989138542 sec
2026-07-02 09:45:22,267 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:45:22,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.934920] moveTile loop end practicalMoveTime=0.117 (+3.0 ms)
2026-07-02 09:45:22,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.935421] moveTile loop start (+0.5 ms)
2026-07-02 09:45:22,275 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1ab010>
2026-07-02 09:45:22,281 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.8, V=163.1
2026-07-02 09:45:22,287 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.954911] moveTile calculated motor speeds left=98 right=100 gyroSteer=-5.960000000000036 wallSteer=4.399999999999999 (+19.5 ms)
2026-07-02 09:45:22,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.974599] moveTile applied motor speed left=98 right=100 (+19.7 ms)
2026-07-02 09:45:22,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.978358] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:22,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.979048] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:22,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.983589] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:22,317 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.16758798377306375 sec
2026-07-02 09:45:22,317 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.7 ms
2026-07-02 09:45:22,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.985584] moveTile loop end practicalMoveTime=0.168 (+2.0 ms)
2026-07-02 09:45:22,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [155.986064] moveTile loop start (+0.5 ms)
2026-07-02 09:45:22,324 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:22,331 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.3, S=254.9, V=162.4
2026-07-02 09:45:22,337 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.005196] moveTile calculated motor speeds left=96 right=100 gyroSteer=-4.960000000000036 wallSteer=1.6000000000000014 (+19.1 ms)
2026-07-02 09:45:22,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.031102] moveTile applied motor speed left=96 right=100 (+25.9 ms)
2026-07-02 09:45:22,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.035037] moveTile tile color check tempTileColor=V (+3.9 ms)
2026-07-02 09:45:22,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.035844] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:22,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.040365] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:22,374 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.6 deg, practicalMoveTime: 0.22407083764914792 sec
2026-07-02 09:45:22,375 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:45:22,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.042981] moveTile loop end practicalMoveTime=0.224 (+2.6 ms)
2026-07-02 09:45:22,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.043406] moveTile loop start (+0.4 ms)
2026-07-02 09:45:22,382 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:22,389 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.1, S=254.9, V=164.6
2026-07-02 09:45:22,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.062816] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.039999999999964 wallSteer=1.6000000000000014 (+19.4 ms)
2026-07-02 09:45:22,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.083025] moveTile applied motor speed left=95 right=100 (+20.2 ms)
2026-07-02 09:45:22,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.090522] moveTile tile color check tempTileColor=V (+7.5 ms)
2026-07-02 09:45:22,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.091077] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:22,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.098532] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:45:22,432 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.28104930352816276 sec
2026-07-02 09:45:22,432 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:45:22,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.100170] moveTile loop end practicalMoveTime=0.281 (+1.6 ms)
2026-07-02 09:45:22,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.100377] moveTile loop start (+0.2 ms)
2026-07-02 09:45:22,439 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:22,443 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.9, V=163.4
2026-07-02 09:45:22,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.115095] moveTile calculated motor speeds left=97 right=100 gyroSteer=-6.160000000000082 wallSteer=3.6000000000000014 (+14.7 ms)
2026-07-02 09:45:22,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.135663] moveTile applied motor speed left=97 right=100 (+20.6 ms)
2026-07-02 09:45:22,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.140758] moveTile tile color check tempTileColor=V (+5.1 ms)
2026-07-02 09:45:22,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.141245] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:22,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.146696] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:22,480 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.44 deg, practicalMoveTime: 0.32861296864852496 sec
2026-07-02 09:45:22,480 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.4 ms
2026-07-02 09:45:22,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.148064] moveTile loop end practicalMoveTime=0.329 (+1.4 ms)
2026-07-02 09:45:22,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.148332] moveTile loop start (+0.3 ms)
2026-07-02 09:45:22,484 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1a9b10>
2026-07-02 09:45:22,489 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.3, S=254.9, V=160.7
2026-07-02 09:45:22,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.163614] moveTile calculated motor speeds left=90 right=100 gyroSteer=-4.0 wallSteer=-5.199999999999999 (+15.3 ms)
2026-07-02 09:45:22,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.189085] moveTile applied motor speed left=90 right=100 (+25.5 ms)
2026-07-02 09:45:22,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.193063] moveTile tile color check tempTileColor=V (+4.0 ms)
2026-07-02 09:45:22,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.193722] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:22,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.198087] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:22,532 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8500000000000227 deg, practicalMoveTime: 0.380530149506793 sec
2026-07-02 09:45:22,533 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:45:22,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.201419] moveTile loop end practicalMoveTime=0.381 (+3.3 ms)
2026-07-02 09:45:22,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.201933] moveTile loop start (+0.5 ms)
2026-07-02 09:45:22,542 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aae90>
2026-07-02 09:45:22,548 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.1, S=254.9, V=165.2
2026-07-02 09:45:22,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.221695] moveTile calculated motor speeds left=91 right=100 gyroSteer=-4.480000000000018 wallSteer=-3.6000000000000014 (+19.8 ms)
2026-07-02 09:45:22,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.242302] moveTile applied motor speed left=91 right=100 (+20.6 ms)
2026-07-02 09:45:22,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.248983] moveTile tile color check tempTileColor=V (+6.7 ms)
2026-07-02 09:45:22,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.250011] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:22,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.257729] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:45:22,591 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.4383278329299004 sec
2026-07-02 09:45:22,592 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:45:22,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.260624] moveTile loop end practicalMoveTime=0.438 (+2.9 ms)
2026-07-02 09:45:22,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.261165] moveTile loop start (+0.5 ms)
2026-07-02 09:45:22,599 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:22,605 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.1, S=254.9, V=166.6
2026-07-02 09:45:22,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.277898] moveTile calculated motor speeds left=90 right=100 gyroSteer=-5.0 wallSteer=-4.399999999999999 (+16.7 ms)
2026-07-02 09:45:22,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.297602] moveTile applied motor speed left=90 right=100 (+19.7 ms)
2026-07-02 09:45:22,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.302217] moveTile tile color check tempTileColor=V (+4.6 ms)
2026-07-02 09:45:22,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.302817] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:22,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.312822] moveTile ramp check isBigRamp=False (+10.0 ms)
2026-07-02 09:45:22,646 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4300000000000068 deg, practicalMoveTime: 0.49258512830134954 sec
2026-07-02 09:45:22,647 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:45:22,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.315553] moveTile loop end practicalMoveTime=0.493 (+2.7 ms)
2026-07-02 09:45:22,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.316475] moveTile loop start (+0.9 ms)
2026-07-02 09:45:22,655 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:22,662 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.0, S=254.9, V=168.0
2026-07-02 09:45:22,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.335606] moveTile calculated motor speeds left=99 right=100 gyroSteer=4.400000000000091 wallSteer=-5.200000000000003 (+19.1 ms)
2026-07-02 09:45:22,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.356290] moveTile applied motor speed left=99 right=100 (+20.7 ms)
2026-07-02 09:45:22,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.359972] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:45:22,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.361072] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:22,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.368459] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:45:22,702 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5900000000000318 deg, practicalMoveTime: 0.5474511557881557 sec
2026-07-02 09:45:22,702 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:45:22,703 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.370460] moveTile loop end practicalMoveTime=0.547 (+2.0 ms)
2026-07-02 09:45:22,703 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.370831] moveTile loop start (+0.4 ms)
2026-07-02 09:45:22,709 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cca4b50>
2026-07-02 09:45:22,715 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.0, S=254.9, V=169.5
2026-07-02 09:45:22,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.390814] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.920000000000073 wallSteer=-4.800000000000001 (+20.0 ms)
2026-07-02 09:45:22,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.412336] moveTile applied motor speed left=100 right=99 (+21.5 ms)
2026-07-02 09:45:22,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.416082] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:45:22,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.416641] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:22,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.422781] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:22,757 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0200000000000387 deg, practicalMoveTime: 0.6018484624028081 sec
2026-07-02 09:45:22,758 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:45:22,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.426109] moveTile loop end practicalMoveTime=0.602 (+3.3 ms)
2026-07-02 09:45:22,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.426480] moveTile loop start (+0.4 ms)
2026-07-02 09:45:22,765 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:22,772 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.9, V=166.7
2026-07-02 09:45:22,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.448441] moveTile calculated motor speeds left=100 right=93 gyroSteer=11.0 wallSteer=-4.399999999999999 (+22.0 ms)
2026-07-02 09:45:22,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.469601] moveTile applied motor speed left=100 right=93 (+21.2 ms)
2026-07-02 09:45:22,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.475037] moveTile tile color check tempTileColor=V (+5.4 ms)
2026-07-02 09:45:22,808 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.475705] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:22,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.480820] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:22,814 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12999999999999545 deg, practicalMoveTime: 0.6581110491337556 sec
2026-07-02 09:45:22,815 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:45:22,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.483505] moveTile loop end practicalMoveTime=0.658 (+2.7 ms)
2026-07-02 09:45:22,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.483872] moveTile loop start (+0.4 ms)
2026-07-02 09:45:22,822 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f80a510>
2026-07-02 09:45:22,830 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.1, S=254.9, V=170.0
2026-07-02 09:45:22,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.505121] moveTile calculated motor speeds left=100 right=95 gyroSteer=8.200000000000045 wallSteer=-3.599999999999998 (+21.2 ms)
2026-07-02 09:45:22,860 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.527547] moveTile applied motor speed left=100 right=95 (+22.4 ms)
2026-07-02 09:45:22,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.531518] moveTile tile color check tempTileColor=V (+4.0 ms)
2026-07-02 09:45:22,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.532186] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:22,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.541637] moveTile ramp check isBigRamp=False (+9.5 ms)
2026-07-02 09:45:22,875 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.37 deg, practicalMoveTime: 0.717717335657243 sec
2026-07-02 09:45:22,875 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.2 ms
2026-07-02 09:45:22,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.543597] moveTile loop end practicalMoveTime=0.718 (+2.0 ms)
2026-07-02 09:45:22,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.544052] moveTile loop start (+0.5 ms)
2026-07-02 09:45:22,882 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5fa71190>
2026-07-02 09:45:22,888 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.9, V=169.1
2026-07-02 09:45:22,893 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.560890] moveTile calculated motor speeds left=100 right=92 gyroSteer=11.680000000000064 wallSteer=-4.0 (+16.8 ms)
2026-07-02 09:45:22,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.581391] moveTile applied motor speed left=100 right=92 (+20.5 ms)
2026-07-02 09:45:22,919 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.586817] moveTile tile color check tempTileColor=V (+5.4 ms)
2026-07-02 09:45:22,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.587833] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:22,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.595731] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:45:22,929 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.7713013733583317 sec
2026-07-02 09:45:22,930 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:45:22,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.598765] moveTile loop end practicalMoveTime=0.771 (+3.0 ms)
2026-07-02 09:45:22,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.599501] moveTile loop start (+0.7 ms)
2026-07-02 09:45:22,941 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aaf90>
2026-07-02 09:45:22,946 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=103.2, S=254.9, V=211.0
2026-07-02 09:45:22,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.620429] moveTile calculated motor speeds left=100 right=98 gyroSteer=4.880000000000109 wallSteer=-3.6000000000000014 (+20.9 ms)
2026-07-02 09:45:22,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.641263] moveTile applied motor speed left=100 right=98 (+20.8 ms)
2026-07-02 09:45:22,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.644987] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:45:22,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.645684] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:22,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.650993] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:45:22,984 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.59000000000003 deg, practicalMoveTime: 0.8252734278328476 sec
2026-07-02 09:45:22,985 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.0 ms
2026-07-02 09:45:22,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.653616] moveTile loop end practicalMoveTime=0.825 (+2.6 ms)
2026-07-02 09:45:22,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.654066] moveTile loop start (+0.5 ms)
2026-07-02 09:45:22,994 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e1aadd0>
2026-07-02 09:45:23,001 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:45:23,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.674400] moveTile calculated motor speeds left=100 right=97 gyroSteer=6.2000000000000455 wallSteer=-4.0 (+20.3 ms)
2026-07-02 09:45:23,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.694133] moveTile applied motor speed left=100 right=97 (+19.7 ms)
2026-07-02 09:45:23,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.699665] moveTile tile color check tempTileColor=V (+5.5 ms)
2026-07-02 09:45:23,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.700346] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:23,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.706002] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:23,039 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.13217415176930686 CM
2026-07-02 09:45:23,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.728479] moveTile finished by time control (+22.5 ms)
2026-07-02 09:45:23,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.729175] moveTile start final forward adjustment (+23.2 ms)
2026-07-02 09:45:23,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.758250] moveTile finished final forward adjustment (+29.1 ms)
2026-07-02 09:45:23,249 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 190.37101031165594 cm
2026-07-02 09:45:23,252 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.197684775671334 cm
2026-07-02 09:45:23,253 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 53.36626494517981 cm
2026-07-02 09:45:23,254 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.200000762939453 cm
2026-07-02 09:45:23,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [156.922222] moveTile updated map and detected walls (+164.0 ms)
2026-07-02 09:45:23,257 - mazeUtils.mazeMap - [mazeMap.py:445] - DEBUG - Silver tile detected, saving cache
2026-07-02 09:45:23,918 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: V
2026-07-02 09:45:23,924 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (20, 23, 0), Tile type: V, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:45:23,925 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.593153] moveTile finished (+834.9 ms)
2026-07-02 09:45:23,965 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:45:23,995 - __main__ - [main.py:110] - INFO - Current position: (20, 23, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| @ | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:24,003 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [157.670994] moveTile start direction=absDirection.NORTH position=(20, 23, 0) front=absDirection.NORTH
2026-07-02 09:45:24,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.676172] moveTile after initial toggle check (+5.2 ms)
2026-07-02 09:45:24,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.678305] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:45:24,011 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 23, 0) facing absDirection.NORTH
2026-07-02 09:45:24,011 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.679294] moveTile start heading change target=0 (+1.0 ms)
2026-07-02 09:45:24,037 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 0.8600000000000136 target: 0
2026-07-02 09:45:24,056 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 0.8600000000000136, diff: 0.8600000000000136
2026-07-02 09:45:24,104 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 0.8400000000000318 deg
2026-07-02 09:45:24,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.772478] moveTile finished heading change (+93.2 ms)
2026-07-02 09:45:24,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.772934] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:45:24,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.773336] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:24,124 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.792306] moveTile stopped motors before alignment (+19.0 ms)
2026-07-02 09:45:24,272 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 190.40000915527344 cm
2026-07-02 09:45:24,275 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.16603902071366 cm
2026-07-02 09:45:24,277 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 52.9082937744529 cm
2026-07-02 09:45:24,278 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.197381119513185 cm
2026-07-02 09:45:24,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [157.946041] moveTile start position adjustment using LiDAR for back wall. (+153.7 ms)
2026-07-02 09:45:24,300 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:24,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.288158] moveTile finished backward adjustment (+342.1 ms)
2026-07-02 09:45:24,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.367769] moveTile ready for forward move (+79.6 ms)
2026-07-02 09:45:24,731 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:24,732 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.399734] moveTile initialized movement targetSteps=1 (+32.0 ms)
2026-07-02 09:45:24,733 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.401013] moveTile loop start (+1.3 ms)
2026-07-02 09:45:24,739 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad750>
2026-07-02 09:45:24,747 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.3, S=255.0, V=253.9
2026-07-02 09:45:24,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.420894] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.240000000000009 wallSteer=-3.6000000000000014 (+19.9 ms)
2026-07-02 09:45:24,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.441517] moveTile applied motor speed left=99 right=100 (+20.6 ms)
2026-07-02 09:45:24,779 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.446617] moveTile tile color check tempTileColor=V (+5.1 ms)
2026-07-02 09:45:24,780 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.447409] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:24,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.452324] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:24,786 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.45000000000005 deg, practicalMoveTime: 0.05458127307754065 sec
2026-07-02 09:45:24,786 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:45:24,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.454772] moveTile loop end practicalMoveTime=0.055 (+2.4 ms)
2026-07-02 09:45:24,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.455137] moveTile loop start (+0.4 ms)
2026-07-02 09:45:24,794 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:24,799 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.2, S=255.0, V=226.4
2026-07-02 09:45:24,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.475008] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.480000000000018 wallSteer=-3.599999999999998 (+19.9 ms)
2026-07-02 09:45:24,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.496966] moveTile applied motor speed left=100 right=99 (+22.0 ms)
2026-07-02 09:45:24,833 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.501129] moveTile tile color check tempTileColor=V (+4.2 ms)
2026-07-02 09:45:24,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.502030] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:24,841 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.508887] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:24,842 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.11006613400953885 sec
2026-07-02 09:45:24,843 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:45:24,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.510894] moveTile loop end practicalMoveTime=0.110 (+2.0 ms)
2026-07-02 09:45:24,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.511265] moveTile loop start (+0.4 ms)
2026-07-02 09:45:24,852 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:24,857 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:24,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.530518] moveTile calculated motor speeds left=100 right=98 gyroSteer=4.360000000000127 wallSteer=-3.1999999999999993 (+19.3 ms)
2026-07-02 09:45:24,883 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.550912] moveTile applied motor speed left=100 right=98 (+20.4 ms)
2026-07-02 09:45:24,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.554636] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:45:24,888 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.555493] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:24,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.561564] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:24,895 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.99 deg, practicalMoveTime: 0.16206045694808877 sec
2026-07-02 09:45:24,895 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:45:24,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.564309] moveTile loop end practicalMoveTime=0.162 (+2.7 ms)
2026-07-02 09:45:24,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.565068] moveTile loop start (+0.8 ms)
2026-07-02 09:45:24,904 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:24,909 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:24,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.582126] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.600000000000136 wallSteer=-3.1999999999999993 (+17.1 ms)
2026-07-02 09:45:24,936 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.603621] moveTile applied motor speed left=100 right=97 (+21.5 ms)
2026-07-02 09:45:24,940 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.607759] moveTile tile color check tempTileColor=V (+4.1 ms)
2026-07-02 09:45:24,940 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.608364] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:24,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.612799] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:24,946 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.13 deg, practicalMoveTime: 0.21252061098962366 sec
2026-07-02 09:45:24,946 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.1 ms
2026-07-02 09:45:24,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.614733] moveTile loop end practicalMoveTime=0.213 (+1.9 ms)
2026-07-02 09:45:24,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.615100] moveTile loop start (+0.4 ms)
2026-07-02 09:45:24,956 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad750>
2026-07-02 09:45:24,964 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:45:24,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.638007] moveTile calculated motor speeds left=100 right=98 gyroSteer=5.440000000000055 wallSteer=-3.6000000000000014 (+22.9 ms)
2026-07-02 09:45:24,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.658293] moveTile applied motor speed left=100 right=98 (+20.3 ms)
2026-07-02 09:45:24,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.662551] moveTile tile color check tempTileColor=V (+4.3 ms)
2026-07-02 09:45:24,996 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.663448] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:25,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.668264] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:45:25,001 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0 deg, practicalMoveTime: 0.2673173042760198 sec
2026-07-02 09:45:25,002 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:45:25,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.670322] moveTile loop end practicalMoveTime=0.267 (+2.1 ms)
2026-07-02 09:45:25,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.670733] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,010 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:25,016 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:45:25,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.691026] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.480000000000018 wallSteer=-4.0 (+20.3 ms)
2026-07-02 09:45:25,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.713303] moveTile applied motor speed left=99 right=100 (+22.3 ms)
2026-07-02 09:45:25,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.719964] moveTile tile color check tempTileColor=V (+6.7 ms)
2026-07-02 09:45:25,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.720770] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:25,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.725486] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:25,059 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.20000000000005 deg, practicalMoveTime: 0.3242265628148508 sec
2026-07-02 09:45:25,060 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:45:25,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.728687] moveTile loop end practicalMoveTime=0.324 (+3.2 ms)
2026-07-02 09:45:25,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.729212] moveTile loop start (+0.5 ms)
2026-07-02 09:45:25,067 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117250>
2026-07-02 09:45:25,072 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:25,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.745338] moveTile calculated motor speeds left=95 right=100 gyroSteer=0.2400000000000091 wallSteer=-4.400000000000002 (+16.1 ms)
2026-07-02 09:45:25,097 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.765141] moveTile applied motor speed left=95 right=100 (+19.8 ms)
2026-07-02 09:45:25,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.769181] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:25,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.769692] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:25,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.775224] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:25,109 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6400000000000432 deg, practicalMoveTime: 0.37289312413806186 sec
2026-07-02 09:45:25,110 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.5 ms
2026-07-02 09:45:25,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.778685] moveTile loop end practicalMoveTime=0.373 (+3.5 ms)
2026-07-02 09:45:25,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.779129] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,118 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:45:25,124 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:25,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.798491] moveTile calculated motor speeds left=96 right=100 gyroSteer=0.4800000000000182 wallSteer=-4.399999999999999 (+19.4 ms)
2026-07-02 09:45:25,151 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.818709] moveTile applied motor speed left=96 right=100 (+20.2 ms)
2026-07-02 09:45:25,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.822662] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:25,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.823427] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:25,160 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.828372] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:25,161 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.62 deg, practicalMoveTime: 0.42439111984410716 sec
2026-07-02 09:45:25,162 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.6 ms
2026-07-02 09:45:25,162 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.830281] moveTile loop end practicalMoveTime=0.424 (+1.9 ms)
2026-07-02 09:45:25,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.830652] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,172 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:25,178 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:25,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.855034] moveTile calculated motor speeds left=98 right=100 gyroSteer=3.3600000000001273 wallSteer=-4.800000000000001 (+24.4 ms)
2026-07-02 09:45:25,208 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.875991] moveTile applied motor speed left=98 right=100 (+21.0 ms)
2026-07-02 09:45:25,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.881942] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:45:25,215 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.883179] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:45:25,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.889081] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:25,222 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7100000000000364 deg, practicalMoveTime: 0.48459839380119396 sec
2026-07-02 09:45:25,223 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:45:25,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.891533] moveTile loop end practicalMoveTime=0.485 (+2.5 ms)
2026-07-02 09:45:25,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.891984] moveTile loop start (+0.5 ms)
2026-07-02 09:45:25,232 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:25,238 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:25,243 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.910613] moveTile calculated motor speeds left=92 right=100 gyroSteer=-2.0399999999999636 wallSteer=-5.600000000000001 (+18.6 ms)
2026-07-02 09:45:25,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.932373] moveTile applied motor speed left=92 right=100 (+21.8 ms)
2026-07-02 09:45:25,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.937388] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:45:25,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.937955] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:25,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.943645] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:25,277 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.69 deg, practicalMoveTime: 0.5384619041392925 sec
2026-07-02 09:45:25,277 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:45:25,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.945742] moveTile loop end practicalMoveTime=0.538 (+2.1 ms)
2026-07-02 09:45:25,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.946113] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,285 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:25,291 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:45:25,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.963851] moveTile calculated motor speeds left=98 right=100 gyroSteer=4.6400000000001 wallSteer=-6.0 (+17.7 ms)
2026-07-02 09:45:25,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.984087] moveTile applied motor speed left=98 right=100 (+20.2 ms)
2026-07-02 09:45:25,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.988220] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:25,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.988771] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:25,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.995082] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:25,328 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.09000000000003 deg, practicalMoveTime: 0.5892415171653753 sec
2026-07-02 09:45:25,329 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.6 ms
2026-07-02 09:45:25,329 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.997277] moveTile loop end practicalMoveTime=0.589 (+2.2 ms)
2026-07-02 09:45:25,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [158.997718] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,334 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:45:25,341 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:45:25,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.015066] moveTile calculated motor speeds left=94 right=100 gyroSteer=1.6800000000000637 wallSteer=-6.799999999999997 (+17.3 ms)
2026-07-02 09:45:25,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.034980] moveTile applied motor speed left=94 right=100 (+19.9 ms)
2026-07-02 09:45:25,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.041718] moveTile tile color check tempTileColor=E (+6.7 ms)
2026-07-02 09:45:25,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.042530] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:25,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.047640] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:25,381 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.81 deg, practicalMoveTime: 0.6414544220656092 sec
2026-07-02 09:45:25,382 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:25,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.050122] moveTile loop end practicalMoveTime=0.641 (+2.5 ms)
2026-07-02 09:45:25,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.050493] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,389 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:25,395 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:25,402 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.070048] moveTile calculated motor speeds left=98 right=100 gyroSteer=5.0 wallSteer=-6.799999999999997 (+19.6 ms)
2026-07-02 09:45:25,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.089617] moveTile applied motor speed left=98 right=100 (+19.6 ms)
2026-07-02 09:45:25,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.093432] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:25,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.094096] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:25,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.098438] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:25,431 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.79 deg, practicalMoveTime: 0.6909722149879939 sec
2026-07-02 09:45:25,432 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.3 ms
2026-07-02 09:45:25,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.100445] moveTile loop end practicalMoveTime=0.691 (+2.0 ms)
2026-07-02 09:45:25,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.100960] moveTile loop start (+0.5 ms)
2026-07-02 09:45:25,440 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:25,446 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:25,453 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.120639] moveTile calculated motor speeds left=100 right=99 gyroSteer=8.839999999999918 wallSteer=-8.0 (+19.7 ms)
2026-07-02 09:45:25,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.140338] moveTile applied motor speed left=100 right=99 (+19.7 ms)
2026-07-02 09:45:25,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.145829] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:45:25,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.146428] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:25,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.156090] moveTile ramp check isBigRamp=False (+9.7 ms)
2026-07-02 09:45:25,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1400000000000432 deg, practicalMoveTime: 0.7481705687112404 sec
2026-07-02 09:45:25,490 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:45:25,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.158781] moveTile loop end practicalMoveTime=0.748 (+2.7 ms)
2026-07-02 09:45:25,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.159217] moveTile loop start (+0.4 ms)
2026-07-02 09:45:25,497 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:25,503 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:25,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.176795] moveTile calculated motor speeds left=98 right=100 gyroSteer=6.2000000000000455 wallSteer=-7.599999999999998 (+17.6 ms)
2026-07-02 09:45:25,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.197382] moveTile applied motor speed left=98 right=100 (+20.6 ms)
2026-07-02 09:45:25,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.204244] moveTile tile color check tempTileColor=E (+6.9 ms)
2026-07-02 09:45:25,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.204960] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:25,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.212966] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:45:25,546 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.74 deg, practicalMoveTime: 0.8043155324578629 sec
2026-07-02 09:45:25,547 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:45:25,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.215864] moveTile loop end practicalMoveTime=0.804 (+2.9 ms)
2026-07-02 09:45:25,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.216511] moveTile loop start (+0.6 ms)
2026-07-02 09:45:25,555 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117250>
2026-07-02 09:45:25,561 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:45:25,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.236244] moveTile calculated motor speeds left=96 right=100 gyroSteer=4.279999999999973 wallSteer=-7.599999999999998 (+19.7 ms)
2026-07-02 09:45:25,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.255968] moveTile applied motor speed left=96 right=100 (+19.7 ms)
2026-07-02 09:45:25,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.259761] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:25,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.260362] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:25,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.266784] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:45:25,600 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.14898019038644159 CM
2026-07-02 09:45:25,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.292302] moveTile finished by time control (+25.5 ms)
2026-07-02 09:45:25,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.293033] moveTile start final forward adjustment (+26.2 ms)
2026-07-02 09:45:25,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.321893] moveTile finished final forward adjustment (+28.9 ms)
2026-07-02 09:45:25,807 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 167.97441278627375 cm
2026-07-02 09:45:25,810 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 13.99490111676895 cm
2026-07-02 09:45:25,811 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 76.78830603930386 cm
2026-07-02 09:45:25,812 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 18.0 cm
2026-07-02 09:45:25,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.480238] moveTile updated map and detected walls (+158.3 ms)
2026-07-02 09:45:25,815 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:25,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.484993] moveTile finished (+163.1 ms)
2026-07-02 09:45:25,859 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 2)
2026-07-02 09:45:25,887 - __main__ - [main.py:110] - INFO - Current position: (20, 22, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| @ | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:25,894 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [159.562097] moveTile start direction=absDirection.NORTH position=(20, 22, 0) front=absDirection.NORTH
2026-07-02 09:45:25,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.567074] moveTile after initial toggle check (+5.0 ms)
2026-07-02 09:45:25,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.569966] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.9 ms)
2026-07-02 09:45:25,903 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 22, 0) facing absDirection.NORTH
2026-07-02 09:45:25,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.570931] moveTile start heading change target=0 (+1.0 ms)
2026-07-02 09:45:25,928 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 2.4499999999999886 target: 0
2026-07-02 09:45:25,950 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 2.4499999999999886, diff: 2.4499999999999886
2026-07-02 09:45:26,022 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 1.7099999999999795 deg
2026-07-02 09:45:26,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.690678] moveTile finished heading change (+119.7 ms)
2026-07-02 09:45:26,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.691240] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:45:26,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.691880] moveTile updated front direction (+0.6 ms)
2026-07-02 09:45:26,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.712208] moveTile stopped motors before alignment (+20.3 ms)
2026-07-02 09:45:26,207 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 166.97477491738238 cm
2026-07-02 09:45:26,210 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 13.691654139542939 cm
2026-07-02 09:45:26,211 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 77.93409398790327 cm
2026-07-02 09:45:26,212 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 18.097241756684173 cm
2026-07-02 09:45:26,213 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.880424] moveTile ready for forward move (+168.2 ms)
2026-07-02 09:45:26,241 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:26,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.909871] moveTile initialized movement targetSteps=1 (+29.4 ms)
2026-07-02 09:45:26,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.911408] moveTile loop start (+1.5 ms)
2026-07-02 09:45:26,250 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:26,257 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=255.0
2026-07-02 09:45:26,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.932225] moveTile calculated motor speeds left=95 right=100 gyroSteer=4.680000000000064 wallSteer=-9.2 (+20.8 ms)
2026-07-02 09:45:26,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.953975] moveTile applied motor speed left=95 right=100 (+21.7 ms)
2026-07-02 09:45:26,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.958657] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:26,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.959343] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:26,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.964861] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:26,298 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.057577777167448545 sec
2026-07-02 09:45:26,299 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:45:26,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.967472] moveTile loop end practicalMoveTime=0.058 (+2.6 ms)
2026-07-02 09:45:26,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.967904] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,308 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:26,313 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:26,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [159.987492] moveTile calculated motor speeds left=93 right=100 gyroSteer=2.759999999999991 wallSteer=-9.2 (+19.6 ms)
2026-07-02 09:45:26,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.010118] moveTile applied motor speed left=93 right=100 (+22.6 ms)
2026-07-02 09:45:26,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.013997] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:26,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.015067] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:26,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.019539] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:26,353 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.35 deg, practicalMoveTime: 0.11112028334264343 sec
2026-07-02 09:45:26,353 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:45:26,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.021606] moveTile loop end practicalMoveTime=0.111 (+2.1 ms)
2026-07-02 09:45:26,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.021992] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,359 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:26,365 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=255.0
2026-07-02 09:45:26,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.039421] moveTile calculated motor speeds left=91 right=100 gyroSteer=0.7200000000000273 wallSteer=-9.600000000000001 (+17.4 ms)
2026-07-02 09:45:26,392 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.060301] moveTile applied motor speed left=91 right=100 (+20.9 ms)
2026-07-02 09:45:26,396 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.063967] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:26,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.064660] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:26,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.076083] moveTile ramp check isBigRamp=False (+11.4 ms)
2026-07-02 09:45:26,410 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.0 deg, practicalMoveTime: 0.16747957441930358 sec
2026-07-02 09:45:26,411 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:45:26,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.079110] moveTile loop end practicalMoveTime=0.167 (+3.0 ms)
2026-07-02 09:45:26,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.079484] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,421 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:26,427 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:45:26,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.101744] moveTile calculated motor speeds left=89 right=100 gyroSteer=-0.7599999999999909 wallSteer=-10.0 (+22.3 ms)
2026-07-02 09:45:26,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.122013] moveTile applied motor speed left=89 right=100 (+20.3 ms)
2026-07-02 09:45:26,458 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.125807] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:26,458 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.126372] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:26,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.130696] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:26,464 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5600000000000023 deg, practicalMoveTime: 0.2203714835317229 sec
2026-07-02 09:45:26,464 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:45:26,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.132696] moveTile loop end practicalMoveTime=0.220 (+2.0 ms)
2026-07-02 09:45:26,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.133094] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,478 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189110>
2026-07-02 09:45:26,484 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:26,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.158925] moveTile calculated motor speeds left=90 right=100 gyroSteer=1.400000000000091 wallSteer=-11.2 (+25.8 ms)
2026-07-02 09:45:26,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.179639] moveTile applied motor speed left=90 right=100 (+20.7 ms)
2026-07-02 09:45:26,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.185727] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:45:26,519 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.186537] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:26,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.193264] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:45:26,526 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.16 deg, practicalMoveTime: 0.2824740407814861 sec
2026-07-02 09:45:26,527 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.8 ms
2026-07-02 09:45:26,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.195392] moveTile loop end practicalMoveTime=0.282 (+2.1 ms)
2026-07-02 09:45:26,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.195757] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,533 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:26,539 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:26,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.216797] moveTile calculated motor speeds left=94 right=100 gyroSteer=5.880000000000109 wallSteer=-11.2 (+21.0 ms)
2026-07-02 09:45:26,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.238027] moveTile applied motor speed left=94 right=100 (+21.2 ms)
2026-07-02 09:45:26,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.241767] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:26,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.242513] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:26,580 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.248148] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:26,581 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.90000000000003 deg, practicalMoveTime: 0.33659712157048194 sec
2026-07-02 09:45:26,582 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:45:26,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.250145] moveTile loop end practicalMoveTime=0.337 (+2.0 ms)
2026-07-02 09:45:26,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.251026] moveTile loop start (+0.9 ms)
2026-07-02 09:45:26,590 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:26,595 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:26,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.268983] moveTile calculated motor speeds left=97 right=100 gyroSteer=8.680000000000064 wallSteer=-10.799999999999997 (+18.0 ms)
2026-07-02 09:45:26,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.290504] moveTile applied motor speed left=97 right=100 (+21.5 ms)
2026-07-02 09:45:26,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.294187] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:26,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.294760] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:26,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.299632] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:26,633 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0100000000000477 deg, practicalMoveTime: 0.38758836261090024 sec
2026-07-02 09:45:26,634 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:45:26,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.302148] moveTile loop end practicalMoveTime=0.388 (+2.5 ms)
2026-07-02 09:45:26,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.302551] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,642 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189390>
2026-07-02 09:45:26,648 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:26,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.322059] moveTile calculated motor speeds left=99 right=100 gyroSteer=11.279999999999973 wallSteer=-11.599999999999998 (+19.5 ms)
2026-07-02 09:45:26,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.342207] moveTile applied motor speed left=99 right=100 (+20.1 ms)
2026-07-02 09:45:26,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.346444] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:26,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.347111] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:26,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.353318] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:26,686 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8600000000000136 deg, practicalMoveTime: 0.44013418926645326 sec
2026-07-02 09:45:26,687 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:45:26,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.355295] moveTile loop end practicalMoveTime=0.440 (+2.0 ms)
2026-07-02 09:45:26,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.355659] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,694 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:26,699 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:45:26,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.372426] moveTile calculated motor speeds left=100 right=97 gyroSteer=13.039999999999964 wallSteer=-10.400000000000002 (+16.8 ms)
2026-07-02 09:45:26,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.393120] moveTile applied motor speed left=100 right=97 (+20.7 ms)
2026-07-02 09:45:26,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.396889] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:26,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.397512] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:26,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.402654] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:26,736 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9800000000000182 deg, practicalMoveTime: 0.4890469497213462 sec
2026-07-02 09:45:26,738 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.7 ms
2026-07-02 09:45:26,738 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.406284] moveTile loop end practicalMoveTime=0.489 (+3.6 ms)
2026-07-02 09:45:26,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.406672] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,747 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1894d0>
2026-07-02 09:45:26,753 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:26,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.426260] moveTile calculated motor speeds left=100 right=99 gyroSteer=10.680000000000064 wallSteer=-10.0 (+19.6 ms)
2026-07-02 09:45:26,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.448528] moveTile applied motor speed left=100 right=99 (+22.3 ms)
2026-07-02 09:45:26,786 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.454259] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:45:26,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.454843] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:26,794 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.462122] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:45:26,795 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.82000000000005 deg, practicalMoveTime: 0.546689580655397 sec
2026-07-02 09:45:26,796 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:45:26,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.464182] moveTile loop end practicalMoveTime=0.547 (+2.1 ms)
2026-07-02 09:45:26,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.464555] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,802 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:26,809 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:26,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.481574] moveTile calculated motor speeds left=100 right=95 gyroSteer=14.600000000000136 wallSteer=-10.0 (+17.0 ms)
2026-07-02 09:45:26,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.501390] moveTile applied motor speed left=100 right=95 (+19.8 ms)
2026-07-02 09:45:26,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.505719] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:26,839 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.506492] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:26,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.511130] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:26,844 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.5949679905354699 sec
2026-07-02 09:45:26,845 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.5 ms
2026-07-02 09:45:26,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.513739] moveTile loop end practicalMoveTime=0.595 (+2.6 ms)
2026-07-02 09:45:26,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.514436] moveTile loop start (+0.7 ms)
2026-07-02 09:45:26,856 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189090>
2026-07-02 09:45:26,861 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:26,866 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.534101] moveTile calculated motor speeds left=100 right=98 gyroSteer=12.079999999999927 wallSteer=-10.8 (+19.7 ms)
2026-07-02 09:45:26,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.553857] moveTile applied motor speed left=100 right=98 (+19.8 ms)
2026-07-02 09:45:26,890 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.557725] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:26,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.558592] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:26,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.564764] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:26,898 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.49 deg, practicalMoveTime: 0.6475090723253276 sec
2026-07-02 09:45:26,898 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:45:26,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.566754] moveTile loop end practicalMoveTime=0.648 (+2.0 ms)
2026-07-02 09:45:26,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.567128] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,908 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:26,914 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:26,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.590929] moveTile calculated motor speeds left=100 right=97 gyroSteer=12.799999999999955 wallSteer=-10.0 (+23.8 ms)
2026-07-02 09:45:26,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.612422] moveTile applied motor speed left=100 right=97 (+21.5 ms)
2026-07-02 09:45:26,949 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.616639] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:26,949 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.617305] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:26,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.621709] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:26,955 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2600000000000477 deg, practicalMoveTime: 0.7037329335399612 sec
2026-07-02 09:45:26,955 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:45:26,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.623558] moveTile loop end practicalMoveTime=0.704 (+1.8 ms)
2026-07-02 09:45:26,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.623919] moveTile loop start (+0.4 ms)
2026-07-02 09:45:26,963 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:26,969 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:26,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.643720] moveTile calculated motor speeds left=100 right=95 gyroSteer=15.200000000000045 wallSteer=-10.400000000000002 (+19.8 ms)
2026-07-02 09:45:26,996 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.663695] moveTile applied motor speed left=100 right=95 (+20.0 ms)
2026-07-02 09:45:27,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.667365] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:27,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.668413] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:27,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.672160] moveTile ramp check isBigRamp=False (+3.7 ms)
2026-07-02 09:45:27,006 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8400000000000318 deg, practicalMoveTime: 0.754208351100495 sec
2026-07-02 09:45:27,007 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:45:27,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.675250] moveTile loop end practicalMoveTime=0.754 (+3.1 ms)
2026-07-02 09:45:27,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.675626] moveTile loop start (+0.4 ms)
2026-07-02 09:45:27,015 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:27,021 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:45:27,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.696244] moveTile calculated motor speeds left=100 right=94 gyroSteer=15.160000000000082 wallSteer=-10.0 (+20.6 ms)
2026-07-02 09:45:27,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.715342] moveTile applied motor speed left=100 right=94 (+19.1 ms)
2026-07-02 09:45:27,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.719367] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:27,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.719910] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:27,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.732143] moveTile ramp check isBigRamp=False (+12.2 ms)
2026-07-02 09:45:27,065 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.8128835418581589 sec
2026-07-02 09:45:27,066 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:45:27,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.734345] moveTile loop end practicalMoveTime=0.813 (+2.2 ms)
2026-07-02 09:45:27,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.734771] moveTile loop start (+0.4 ms)
2026-07-02 09:45:27,072 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:27,080 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:27,087 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.755211] moveTile calculated motor speeds left=100 right=93 gyroSteer=16.600000000000136 wallSteer=-10.0 (+20.4 ms)
2026-07-02 09:45:27,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.775546] moveTile applied motor speed left=100 right=93 (+20.3 ms)
2026-07-02 09:45:27,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.779303] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:27,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.780161] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:27,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.786335] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:27,119 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.12314673643573558 CM
2026-07-02 09:45:27,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.811585] moveTile finished by time control (+25.3 ms)
2026-07-02 09:45:27,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.812328] moveTile start final forward adjustment (+26.0 ms)
2026-07-02 09:45:27,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [160.842845] moveTile finished final forward adjustment (+30.5 ms)
2026-07-02 09:45:27,327 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 134.16099761510014 cm
2026-07-02 09:45:27,330 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 13.697136135397626 cm
2026-07-02 09:45:27,331 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 108.13727008452116 cm
2026-07-02 09:45:27,333 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.897273361887777 cm
2026-07-02 09:45:27,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.002235] moveTile updated map and detected walls (+159.4 ms)
2026-07-02 09:45:27,337 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:27,338 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.005435] moveTile finished (+162.6 ms)
2026-07-02 09:45:27,375 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 3)
2026-07-02 09:45:27,404 - __main__ - [main.py:110] - INFO - Current position: (20, 21, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| @ | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:27,410 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [161.077919] moveTile start direction=absDirection.NORTH position=(20, 21, 0) front=absDirection.NORTH
2026-07-02 09:45:27,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.088628] moveTile after initial toggle check (+10.7 ms)
2026-07-02 09:45:27,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.090772] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.1 ms)
2026-07-02 09:45:27,423 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 21, 0) facing absDirection.NORTH
2026-07-02 09:45:27,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.091647] moveTile start heading change target=0 (+0.9 ms)
2026-07-02 09:45:27,452 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 3.329999999999984 target: 0
2026-07-02 09:45:27,474 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 3.329999999999984, diff: 3.329999999999984
2026-07-02 09:45:27,561 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 1.9700000000000273 deg
2026-07-02 09:45:27,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.229592] moveTile finished heading change (+137.9 ms)
2026-07-02 09:45:27,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.230029] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:45:27,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.230441] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:27,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.254039] moveTile stopped motors before alignment (+23.6 ms)
2026-07-02 09:45:27,743 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 134.61794134957344 cm
2026-07-02 09:45:27,746 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 13.581362053609139 cm
2026-07-02 09:45:27,747 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 108.18753052890409 cm
2026-07-02 09:45:27,749 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 18.03112251538812 cm
2026-07-02 09:45:27,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.417716] moveTile ready for forward move (+163.7 ms)
2026-07-02 09:45:27,780 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:27,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.449075] moveTile initialized movement targetSteps=1 (+31.4 ms)
2026-07-02 09:45:27,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.450674] moveTile loop start (+1.6 ms)
2026-07-02 09:45:27,789 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1891d0>
2026-07-02 09:45:27,795 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.8
2026-07-02 09:45:27,801 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.468782] moveTile calculated motor speeds left=99 right=100 gyroSteer=7.0 wallSteer=-7.199999999999999 (+18.1 ms)
2026-07-02 09:45:27,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.489015] moveTile applied motor speed left=99 right=100 (+20.2 ms)
2026-07-02 09:45:27,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.492882] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:27,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.494413] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:45:27,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.501447] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:45:27,835 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7200000000000273 deg, practicalMoveTime: 0.05483909554438682 sec
2026-07-02 09:45:27,835 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:45:27,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.503568] moveTile loop end practicalMoveTime=0.055 (+2.1 ms)
2026-07-02 09:45:27,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.504126] moveTile loop start (+0.6 ms)
2026-07-02 09:45:27,841 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:27,847 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.8
2026-07-02 09:45:27,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.519526] moveTile calculated motor speeds left=95 right=100 gyroSteer=6.600000000000136 wallSteer=-11.600000000000001 (+15.4 ms)
2026-07-02 09:45:27,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.540042] moveTile applied motor speed left=95 right=100 (+20.5 ms)
2026-07-02 09:45:27,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.545778] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:45:27,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.546446] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:27,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.551655] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:45:27,885 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.76000000000005 deg, practicalMoveTime: 0.10478019717321782 sec
2026-07-02 09:45:27,886 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.5 ms
2026-07-02 09:45:27,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.554320] moveTile loop end practicalMoveTime=0.105 (+2.7 ms)
2026-07-02 09:45:27,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.554725] moveTile loop start (+0.4 ms)
2026-07-02 09:45:27,894 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1892d0>
2026-07-02 09:45:27,900 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:45:27,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.573876] moveTile calculated motor speeds left=98 right=100 gyroSteer=10.079999999999927 wallSteer=-11.600000000000001 (+19.2 ms)
2026-07-02 09:45:27,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.594643] moveTile applied motor speed left=98 right=100 (+20.8 ms)
2026-07-02 09:45:27,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.599031] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:27,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.599826] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:27,941 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.609051] moveTile ramp check isBigRamp=False (+9.2 ms)
2026-07-02 09:45:27,943 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.25 deg, practicalMoveTime: 0.1614841515052805 sec
2026-07-02 09:45:27,943 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:45:27,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.611792] moveTile loop end practicalMoveTime=0.161 (+2.7 ms)
2026-07-02 09:45:27,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.612381] moveTile loop start (+0.6 ms)
2026-07-02 09:45:27,954 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189210>
2026-07-02 09:45:27,959 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=254.9
2026-07-02 09:45:27,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.633707] moveTile calculated motor speeds left=92 right=100 gyroSteer=4.319999999999936 wallSteer=-12.0 (+21.3 ms)
2026-07-02 09:45:27,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.654479] moveTile applied motor speed left=92 right=100 (+20.8 ms)
2026-07-02 09:45:27,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.658554] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:27,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.659154] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:27,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.665881] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:45:28,000 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.88 deg, practicalMoveTime: 0.21771552689411014 sec
2026-07-02 09:45:28,001 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:45:28,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.669273] moveTile loop end practicalMoveTime=0.218 (+3.4 ms)
2026-07-02 09:45:28,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.669662] moveTile loop start (+0.4 ms)
2026-07-02 09:45:28,009 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:28,017 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:45:28,022 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.690142] moveTile calculated motor speeds left=100 right=100 gyroSteer=12.0 wallSteer=-12.0 (+20.5 ms)
2026-07-02 09:45:28,043 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.710725] moveTile applied motor speed left=100 right=100 (+20.6 ms)
2026-07-02 09:45:28,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.714948] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:28,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.716058] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:28,054 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.721694] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:28,055 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.27208533410019814 sec
2026-07-02 09:45:28,056 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:45:28,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.725394] moveTile loop end practicalMoveTime=0.272 (+3.7 ms)
2026-07-02 09:45:28,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.725864] moveTile loop start (+0.5 ms)
2026-07-02 09:45:28,068 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:28,075 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.5, S=255.0, V=254.9
2026-07-02 09:45:28,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.749858] moveTile calculated motor speeds left=98 right=100 gyroSteer=10.240000000000009 wallSteer=-12.0 (+24.0 ms)
2026-07-02 09:45:28,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.771782] moveTile applied motor speed left=98 right=100 (+21.9 ms)
2026-07-02 09:45:28,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.776108] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:28,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.776920] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:28,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.784307] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:45:28,118 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5800000000000409 deg, practicalMoveTime: 0.3335932222413833 sec
2026-07-02 09:45:28,119 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.8 ms
2026-07-02 09:45:28,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.787226] moveTile loop end practicalMoveTime=0.334 (+2.9 ms)
2026-07-02 09:45:28,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.787721] moveTile loop start (+0.5 ms)
2026-07-02 09:45:28,134 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189550>
2026-07-02 09:45:28,140 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:45:28,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.814715] moveTile calculated motor speeds left=100 right=96 gyroSteer=16.0 wallSteer=-12.400000000000002 (+27.0 ms)
2026-07-02 09:45:28,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.835137] moveTile applied motor speed left=100 right=96 (+20.4 ms)
2026-07-02 09:45:28,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.839308] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:28,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.839944] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:28,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.845201] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:45:28,178 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.3930234978534811 sec
2026-07-02 09:45:28,179 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:45:28,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.847190] moveTile loop end practicalMoveTime=0.393 (+2.0 ms)
2026-07-02 09:45:28,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.847552] moveTile loop start (+0.4 ms)
2026-07-02 09:45:28,192 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:28,198 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:45:28,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.874596] moveTile calculated motor speeds left=97 right=100 gyroSteer=9.799999999999955 wallSteer=-12.400000000000002 (+27.0 ms)
2026-07-02 09:45:28,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.895583] moveTile applied motor speed left=97 right=100 (+21.0 ms)
2026-07-02 09:45:28,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.899566] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:28,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.900442] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:28,238 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.905673] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:45:28,239 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8799999999999955 deg, practicalMoveTime: 0.45280514996058935 sec
2026-07-02 09:45:28,239 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:45:28,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.907588] moveTile loop end practicalMoveTime=0.453 (+1.9 ms)
2026-07-02 09:45:28,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.907958] moveTile loop start (+0.4 ms)
2026-07-02 09:45:28,248 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:28,253 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:45:28,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.927770] moveTile calculated motor speeds left=100 right=96 gyroSteer=11.600000000000136 wallSteer=-8.0 (+19.8 ms)
2026-07-02 09:45:28,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.948293] moveTile applied motor speed left=100 right=96 (+20.5 ms)
2026-07-02 09:45:28,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.952431] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:28,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.953168] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:28,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.957881] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:28,291 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.61 deg, practicalMoveTime: 0.5049541913257041 sec
2026-07-02 09:45:28,292 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:28,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.960885] moveTile loop end practicalMoveTime=0.505 (+3.0 ms)
2026-07-02 09:45:28,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.961339] moveTile loop start (+0.5 ms)
2026-07-02 09:45:28,299 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189490>
2026-07-02 09:45:28,305 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:45:28,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.978399] moveTile calculated motor speeds left=100 right=95 gyroSteer=13.839999999999918 wallSteer=-9.2 (+17.1 ms)
2026-07-02 09:45:28,329 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [161.997286] moveTile applied motor speed left=100 right=95 (+18.9 ms)
2026-07-02 09:45:28,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.002329] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:45:28,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.003092] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:28,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.009582] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:45:28,343 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5600000000000023 deg, practicalMoveTime: 0.5554997394941563 sec
2026-07-02 09:45:28,343 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.7 ms
2026-07-02 09:45:28,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.011585] moveTile loop end practicalMoveTime=0.555 (+2.0 ms)
2026-07-02 09:45:28,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.011956] moveTile loop start (+0.4 ms)
2026-07-02 09:45:28,351 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:28,357 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:45:28,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.032601] moveTile calculated motor speeds left=100 right=85 gyroSteer=14.480000000000018 wallSteer=-0.3999999999999986 (+20.6 ms)
2026-07-02 09:45:28,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.053972] moveTile applied motor speed left=100 right=85 (+21.4 ms)
2026-07-02 09:45:28,391 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.058917] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:45:28,392 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.059617] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:28,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.066807] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:45:28,400 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.68 deg, practicalMoveTime: 0.6118498070502615 sec
2026-07-02 09:45:28,400 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:45:28,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.068652] moveTile loop end practicalMoveTime=0.612 (+1.8 ms)
2026-07-02 09:45:28,402 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.069988] moveTile loop start (+1.3 ms)
2026-07-02 09:45:28,408 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:28,413 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:45:28,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.085861] moveTile calculated motor speeds left=100 right=92 gyroSteer=8.079999999999927 wallSteer=-0.3999999999999986 (+15.9 ms)
2026-07-02 09:45:28,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.106571] moveTile applied motor speed left=100 right=92 (+20.7 ms)
2026-07-02 09:45:28,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.110547] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:28,444 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.111446] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:28,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.118974] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:45:28,452 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1400000000000432 deg, practicalMoveTime: 0.6634007185310704 sec
2026-07-02 09:45:28,453 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.6 ms
2026-07-02 09:45:28,453 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.121239] moveTile loop end practicalMoveTime=0.663 (+2.3 ms)
2026-07-02 09:45:28,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.121633] moveTile loop start (+0.4 ms)
2026-07-02 09:45:28,460 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:28,466 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.4, S=255.0, V=254.8
2026-07-02 09:45:28,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.142002] moveTile calculated motor speeds left=100 right=93 gyroSteer=7.680000000000064 wallSteer=-0.8000000000000007 (+20.4 ms)
2026-07-02 09:45:28,500 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.167991] moveTile applied motor speed left=100 right=93 (+26.0 ms)
2026-07-02 09:45:28,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.176245] moveTile tile color check tempTileColor=E (+8.3 ms)
2026-07-02 09:45:28,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.176921] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:28,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.182386] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:28,516 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.7260114458494106 sec
2026-07-02 09:45:28,516 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.5 ms
2026-07-02 09:45:28,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.185951] moveTile loop end practicalMoveTime=0.726 (+3.6 ms)
2026-07-02 09:45:28,519 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.186545] moveTile loop start (+0.6 ms)
2026-07-02 09:45:28,527 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:28,532 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:45:28,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.207084] moveTile calculated motor speeds left=100 right=92 gyroSteer=8.680000000000064 wallSteer=-0.8000000000000007 (+20.5 ms)
2026-07-02 09:45:28,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.229805] moveTile applied motor speed left=100 right=92 (+22.7 ms)
2026-07-02 09:45:28,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.234553] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:28,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.236194] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:45:28,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.244693] moveTile ramp check isBigRamp=False (+8.5 ms)
2026-07-02 09:45:28,578 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.07000000000005 deg, practicalMoveTime: 0.7874862533684928 sec
2026-07-02 09:45:28,578 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.7 ms
2026-07-02 09:45:28,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.246885] moveTile loop end practicalMoveTime=0.787 (+2.2 ms)
2026-07-02 09:45:28,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.247381] moveTile loop start (+0.5 ms)
2026-07-02 09:45:28,586 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:28,592 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.9, S=255.0, V=254.8
2026-07-02 09:45:28,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.267057] moveTile calculated motor speeds left=100 right=94 gyroSteer=6.7999999999999545 wallSteer=-1.1999999999999993 (+19.7 ms)
2026-07-02 09:45:28,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.292958] moveTile applied motor speed left=100 right=94 (+25.9 ms)
2026-07-02 09:45:28,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.296733] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:28,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.298079] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:45:28,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.304872] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:28,638 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.84000000000003 deg, practicalMoveTime: 0.8473538788244166 sec
2026-07-02 09:45:28,639 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.7 ms
2026-07-02 09:45:28,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.308413] moveTile loop end practicalMoveTime=0.847 (+3.5 ms)
2026-07-02 09:45:28,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.308959] moveTile loop start (+0.5 ms)
2026-07-02 09:45:28,646 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:28,652 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:45:28,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.326068] moveTile calculated motor speeds left=100 right=95 gyroSteer=5.360000000000127 wallSteer=-1.1999999999999993 (+17.1 ms)
2026-07-02 09:45:28,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.346425] moveTile applied motor speed left=100 right=95 (+20.4 ms)
2026-07-02 09:45:28,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.350094] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:28,683 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.350659] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:28,689 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.356440] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:28,689 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.1836557939634913 CM
2026-07-02 09:45:28,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.378767] moveTile finished by time control (+22.3 ms)
2026-07-02 09:45:28,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.379584] moveTile start final forward adjustment (+23.1 ms)
2026-07-02 09:45:28,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.407690] moveTile finished final forward adjustment (+28.1 ms)
2026-07-02 09:45:28,895 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 102.93301617061628 cm
2026-07-02 09:45:28,898 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 104.86938999076145 cm
2026-07-02 09:45:28,899 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 139.4594572706473 cm
2026-07-02 09:45:28,899 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 18.097241756684173 cm
2026-07-02 09:45:28,900 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.567838] moveTile updated map and detected walls (+160.1 ms)
2026-07-02 09:45:28,903 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:28,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.572560] moveTile finished (+164.9 ms)
2026-07-02 09:45:28,946 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 4)
2026-07-02 09:45:28,976 - __main__ - [main.py:110] - INFO - Current position: (20, 20, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| @   U   U   U   U   U   U  
+   +   +   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:28,992 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [162.659505] moveTile start direction=absDirection.EAST position=(20, 20, 0) front=absDirection.NORTH
2026-07-02 09:45:28,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.666286] moveTile after initial toggle check (+6.8 ms)
2026-07-02 09:45:29,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.668392] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.1 ms)
2026-07-02 09:45:29,001 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (20, 20, 0) facing absDirection.NORTH
2026-07-02 09:45:29,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [162.669554] moveTile start heading change target=270 (+1.2 ms)
2026-07-02 09:45:29,026 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 0.7800000000000296 target: 270
2026-07-02 09:45:29,877 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 275.45000000000005, diff: 5.4500000000000455
2026-07-02 09:45:29,933 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 270.79 deg
2026-07-02 09:45:29,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [163.601183] moveTile finished heading change (+931.6 ms)
2026-07-02 09:45:29,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [163.601789] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:45:29,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [163.602757] moveTile updated front direction (+1.0 ms)
2026-07-02 09:45:29,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [163.623883] moveTile stopped motors before alignment (+21.1 ms)
2026-07-02 09:45:30,111 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 107.93421694280926 cm
2026-07-02 09:45:30,112 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 102.88432935723917 cm
2026-07-02 09:45:30,115 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 135.57933830932762 cm
2026-07-02 09:45:30,116 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 20.273659732012412 cm
2026-07-02 09:45:30,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [163.784837] moveTile start position adjustment using LiDAR for back wall. (+161.0 ms)
2026-07-02 09:45:30,136 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:30,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [163.957302] moveTile finished backward adjustment (+172.5 ms)
2026-07-02 09:45:30,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.037608] moveTile ready for forward move (+80.3 ms)
2026-07-02 09:45:30,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.066065] moveTile initialized movement targetSteps=1 (+28.5 ms)
2026-07-02 09:45:30,400 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.067630] moveTile loop start (+1.6 ms)
2026-07-02 09:45:30,409 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2610>
2026-07-02 09:45:30,416 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.089915] moveTile calculated motor speeds left=90 right=100 gyroSteer=-9.480000000000018 wallSteer=0.0 (+22.3 ms)
2026-07-02 09:45:30,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.110657] moveTile applied motor speed left=90 right=100 (+20.7 ms)
2026-07-02 09:45:30,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.115800] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:45:30,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.116596] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:30,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.123133] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:45:30,457 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.11 deg, practicalMoveTime: 0.0587259008261628 sec
2026-07-02 09:45:30,458 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.1 ms
2026-07-02 09:45:30,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.126403] moveTile loop end practicalMoveTime=0.059 (+3.3 ms)
2026-07-02 09:45:30,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.126836] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,466 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:30,472 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.146718] moveTile calculated motor speeds left=90 right=100 gyroSteer=-9.199999999999818 wallSteer=0.0 (+19.9 ms)
2026-07-02 09:45:30,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.169119] moveTile applied motor speed left=90 right=100 (+22.4 ms)
2026-07-02 09:45:30,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.175859] moveTile tile color check tempTileColor=E (+6.7 ms)
2026-07-02 09:45:30,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.176713] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:30,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.181248] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:30,514 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.53000000000003 deg, practicalMoveTime: 0.1149350043386458 sec
2026-07-02 09:45:30,515 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:45:30,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.183122] moveTile loop end practicalMoveTime=0.115 (+1.9 ms)
2026-07-02 09:45:30,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.183538] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,521 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:30,528 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,536 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.204118] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.240000000000009 wallSteer=0.0 (+20.6 ms)
2026-07-02 09:45:30,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.225172] moveTile applied motor speed left=93 right=100 (+21.1 ms)
2026-07-02 09:45:30,561 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.228953] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:30,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.229755] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:30,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.235012] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:45:30,568 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.64000000000004 deg, practicalMoveTime: 0.16835020208379073 sec
2026-07-02 09:45:30,569 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:45:30,569 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.237316] moveTile loop end practicalMoveTime=0.168 (+2.3 ms)
2026-07-02 09:45:30,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.237696] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,576 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189550>
2026-07-02 09:45:30,582 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.257847] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.240000000000009 wallSteer=0.0 (+20.2 ms)
2026-07-02 09:45:30,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.279901] moveTile applied motor speed left=96 right=100 (+22.1 ms)
2026-07-02 09:45:30,618 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.285720] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:45:30,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.286498] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:30,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.293241] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:45:30,626 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.66 deg, practicalMoveTime: 0.22568886078762698 sec
2026-07-02 09:45:30,627 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.0 ms
2026-07-02 09:45:30,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.295301] moveTile loop end practicalMoveTime=0.226 (+2.1 ms)
2026-07-02 09:45:30,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.295738] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,633 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:30,639 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.313081] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.559999999999945 wallSteer=0.0 (+17.3 ms)
2026-07-02 09:45:30,667 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.335128] moveTile applied motor speed left=91 right=100 (+22.0 ms)
2026-07-02 09:45:30,671 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.339053] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:30,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.339653] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:30,683 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.351372] moveTile ramp check isBigRamp=False (+11.7 ms)
2026-07-02 09:45:30,685 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.56 deg, practicalMoveTime: 0.28364646991257914 sec
2026-07-02 09:45:30,686 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:45:30,686 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.354142] moveTile loop end practicalMoveTime=0.284 (+2.8 ms)
2026-07-02 09:45:30,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.354563] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,692 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f45ca50>
2026-07-02 09:45:30,699 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.374768] moveTile calculated motor speeds left=98 right=100 gyroSteer=-1.7999999999999545 wallSteer=0.0 (+20.2 ms)
2026-07-02 09:45:30,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.395064] moveTile applied motor speed left=98 right=100 (+20.3 ms)
2026-07-02 09:45:30,732 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.400068] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:45:30,733 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.400708] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:30,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.406537] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:30,740 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.05000000000001137 deg, practicalMoveTime: 0.3374680131395512 sec
2026-07-02 09:45:30,740 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:45:30,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.408633] moveTile loop end practicalMoveTime=0.337 (+2.1 ms)
2026-07-02 09:45:30,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.409012] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,747 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2610>
2026-07-02 09:45:30,753 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:30,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.429564] moveTile calculated motor speeds left=89 right=100 gyroSteer=-3.7999999999999545 wallSteer=-6.799999999999997 (+20.6 ms)
2026-07-02 09:45:30,789 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.456940] moveTile applied motor speed left=89 right=100 (+27.4 ms)
2026-07-02 09:45:30,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.460549] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:30,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.461055] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:30,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.466917] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:30,800 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.010000000000047748 deg, practicalMoveTime: 0.3973768791094112 sec
2026-07-02 09:45:30,802 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.6 ms
2026-07-02 09:45:30,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.470208] moveTile loop end practicalMoveTime=0.397 (+3.3 ms)
2026-07-02 09:45:30,803 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.470650] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,809 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189550>
2026-07-02 09:45:30,817 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,824 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.491931] moveTile calculated motor speeds left=87 right=100 gyroSteer=-0.44000000000005457 wallSteer=-12.0 (+21.3 ms)
2026-07-02 09:45:30,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.514794] moveTile applied motor speed left=87 right=100 (+22.9 ms)
2026-07-02 09:45:30,851 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.519147] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:30,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.519923] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:30,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.525791] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:30,859 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.22000000000002728 deg, practicalMoveTime: 0.45436040679289774 sec
2026-07-02 09:45:30,860 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:45:30,860 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.528190] moveTile loop end practicalMoveTime=0.454 (+2.4 ms)
2026-07-02 09:45:30,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.529131] moveTile loop start (+0.9 ms)
2026-07-02 09:45:30,867 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2610>
2026-07-02 09:45:30,873 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:45:30,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.548438] moveTile calculated motor speeds left=87 right=100 gyroSteer=-2.240000000000009 wallSteer=-10.400000000000002 (+19.3 ms)
2026-07-02 09:45:30,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.570264] moveTile applied motor speed left=87 right=100 (+21.8 ms)
2026-07-02 09:45:30,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.576291] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:45:30,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.577489] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:45:30,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.582118] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:30,915 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.5099208337210549 sec
2026-07-02 09:45:30,916 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:45:30,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.584255] moveTile loop end practicalMoveTime=0.510 (+2.1 ms)
2026-07-02 09:45:30,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.584646] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,924 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:30,930 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,936 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.603794] moveTile calculated motor speeds left=89 right=100 gyroSteer=-3.240000000000009 wallSteer=-7.600000000000001 (+19.1 ms)
2026-07-02 09:45:30,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.623355] moveTile applied motor speed left=89 right=100 (+19.6 ms)
2026-07-02 09:45:30,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.627020] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:30,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.627534] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:30,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.632157] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:30,965 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.5595031803708731 sec
2026-07-02 09:45:30,967 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.8 ms
2026-07-02 09:45:30,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.635143] moveTile loop end practicalMoveTime=0.560 (+3.0 ms)
2026-07-02 09:45:30,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.635567] moveTile loop start (+0.4 ms)
2026-07-02 09:45:30,973 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f45ca50>
2026-07-02 09:45:30,980 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:30,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.654957] moveTile calculated motor speeds left=95 right=100 gyroSteer=2.3600000000001273 wallSteer=-6.399999999999999 (+19.4 ms)
2026-07-02 09:45:31,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.676312] moveTile applied motor speed left=95 right=100 (+21.4 ms)
2026-07-02 09:45:31,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.680486] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:31,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.681073] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:31,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.686616] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:31,020 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.6126635239173287 sec
2026-07-02 09:45:31,021 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:45:31,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.689328] moveTile loop end practicalMoveTime=0.613 (+2.7 ms)
2026-07-02 09:45:31,022 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.689709] moveTile loop start (+0.4 ms)
2026-07-02 09:45:31,028 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:31,035 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:31,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.709175] moveTile calculated motor speeds left=93 right=100 gyroSteer=-0.5599999999999454 wallSteer=-6.399999999999999 (+19.5 ms)
2026-07-02 09:45:31,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.732182] moveTile applied motor speed left=93 right=100 (+23.0 ms)
2026-07-02 09:45:31,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.735797] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:31,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.736435] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:31,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.741731] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:45:31,075 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8700000000000045 deg, practicalMoveTime: 0.6665182176053783 sec
2026-07-02 09:45:31,075 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:45:31,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.744306] moveTile loop end practicalMoveTime=0.667 (+2.6 ms)
2026-07-02 09:45:31,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.744716] moveTile loop start (+0.4 ms)
2026-07-02 09:45:31,083 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2610>
2026-07-02 09:45:31,089 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:31,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.763369] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.559999999999945 wallSteer=-6.399999999999999 (+18.7 ms)
2026-07-02 09:45:31,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.784041] moveTile applied motor speed left=100 right=99 (+20.7 ms)
2026-07-02 09:45:31,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.788714] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:31,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.789348] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:31,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.799163] moveTile ramp check isBigRamp=False (+9.8 ms)
2026-07-02 09:45:31,132 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.7234431770299958 sec
2026-07-02 09:45:31,134 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.6 ms
2026-07-02 09:45:31,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.802177] moveTile loop end practicalMoveTime=0.723 (+3.0 ms)
2026-07-02 09:45:31,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.802665] moveTile loop start (+0.5 ms)
2026-07-02 09:45:31,145 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:31,151 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:45:31,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.825489] moveTile calculated motor speeds left=95 right=100 gyroSteer=3.759999999999991 wallSteer=-8.399999999999999 (+22.8 ms)
2026-07-02 09:45:31,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.850817] moveTile applied motor speed left=95 right=100 (+25.3 ms)
2026-07-02 09:45:31,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.854904] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:31,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.855703] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:31,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.862645] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:31,196 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.43 deg, practicalMoveTime: 0.786055949932345 sec
2026-07-02 09:45:31,198 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.7 ms
2026-07-02 09:45:31,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.867529] moveTile loop end practicalMoveTime=0.786 (+4.9 ms)
2026-07-02 09:45:31,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.867999] moveTile loop start (+0.5 ms)
2026-07-02 09:45:31,212 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1891d0>
2026-07-02 09:45:31,219 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:31,226 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.894324] moveTile calculated motor speeds left=100 right=95 gyroSteer=11.160000000000082 wallSteer=-6.800000000000001 (+26.3 ms)
2026-07-02 09:45:31,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.915128] moveTile applied motor speed left=100 right=95 (+20.8 ms)
2026-07-02 09:45:31,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.918744] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:31,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.919251] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:31,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.924923] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:31,259 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.69 deg, practicalMoveTime: 0.8471579227064508 sec
2026-07-02 09:45:31,260 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:45:31,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.928670] moveTile loop end practicalMoveTime=0.847 (+3.7 ms)
2026-07-02 09:45:31,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.929291] moveTile loop start (+0.6 ms)
2026-07-02 09:45:31,268 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1892d0>
2026-07-02 09:45:31,274 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:31,279 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.947038] moveTile calculated motor speeds left=100 right=98 gyroSteer=8.759999999999991 wallSteer=-6.800000000000001 (+17.7 ms)
2026-07-02 09:45:31,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.969219] moveTile applied motor speed left=100 right=98 (+22.2 ms)
2026-07-02 09:45:31,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.972888] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:31,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.973905] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:31,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [164.979690] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:31,313 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.0481577876360968 CM
2026-07-02 09:45:31,338 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.005780] moveTile finished by time control (+26.1 ms)
2026-07-02 09:45:31,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.006538] moveTile start final forward adjustment (+26.8 ms)
2026-07-02 09:45:31,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.044081] moveTile finished final forward adjustment (+37.5 ms)
2026-07-02 09:45:31,377 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.0481577876360968 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:31,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.045759] moveTile updated moved vertical distance -0.048 (+1.7 ms)
2026-07-02 09:45:31,534 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 109.12753815326273 cm
2026-07-02 09:45:31,535 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 73.97785821766861 cm
2026-07-02 09:45:31,538 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:45:31,539 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 14.76394813411564 cm
2026-07-02 09:45:31,540 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 51.33137236295281 cm
2026-07-02 09:45:31,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.208658] moveTile updated map and detected walls (+162.9 ms)
2026-07-02 09:45:31,543 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:31,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.211777] moveTile finished (+166.0 ms)
2026-07-02 09:45:31,583 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:45:31,616 - __main__ - [main.py:110] - INFO - Current position: (21, 20, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   @   U   U   U   U   U  
+   +---+   +   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:31,623 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (22, 20, 0)
2026-07-02 09:45:31,625 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:45:31,626 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [165.293724] moveTile start direction=absDirection.EAST position=(21, 20, 0) front=absDirection.EAST
2026-07-02 09:45:31,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.298126] moveTile after initial toggle check (+4.4 ms)
2026-07-02 09:45:31,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.300277] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:45:31,633 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (21, 20, 0) facing absDirection.EAST
2026-07-02 09:45:31,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.301333] moveTile start heading change target=270 (+1.1 ms)
2026-07-02 09:45:31,666 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 273.46000000000004 target: 270
2026-07-02 09:45:31,685 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 273.46000000000004, diff: 3.4600000000000364
2026-07-02 09:45:31,848 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 272.0 deg
2026-07-02 09:45:31,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.516480] moveTile finished heading change (+215.1 ms)
2026-07-02 09:45:31,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.516924] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:45:31,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.517328] moveTile updated front direction (+0.4 ms)
2026-07-02 09:45:31,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.537282] moveTile stopped motors before alignment (+20.0 ms)
2026-07-02 09:45:32,014 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 109.15021119625041 cm
2026-07-02 09:45:32,015 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 73.97302171293698 cm
2026-07-02 09:45:32,018 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 14.42067714466782 cm
2026-07-02 09:45:32,019 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 50.39726136885459 cm
2026-07-02 09:45:32,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.687955] moveTile start position adjustment using LiDAR for back wall. (+150.7 ms)
2026-07-02 09:45:32,041 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:32,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.849303] moveTile finished backward adjustment (+161.3 ms)
2026-07-02 09:45:32,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.931175] moveTile ready for forward move (+81.9 ms)
2026-07-02 09:45:32,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.966213] moveTile initialized movement targetSteps=1 (+35.0 ms)
2026-07-02 09:45:32,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.967842] moveTile loop start (+1.6 ms)
2026-07-02 09:45:32,307 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189550>
2026-07-02 09:45:32,314 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:32,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [165.987265] moveTile calculated motor speeds left=95 right=100 gyroSteer=3.400000000000091 wallSteer=-8.0 (+19.4 ms)
2026-07-02 09:45:32,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.007081] moveTile applied motor speed left=95 right=100 (+19.8 ms)
2026-07-02 09:45:32,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.012089] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:45:32,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.012873] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:32,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.017577] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:45:32,351 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.05219191093723279 sec
2026-07-02 09:45:32,352 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:32,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.020823] moveTile loop end practicalMoveTime=0.052 (+3.2 ms)
2026-07-02 09:45:32,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.021292] moveTile loop start (+0.5 ms)
2026-07-02 09:45:32,363 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f45ca50>
2026-07-02 09:45:32,370 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.044952] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.759999999999991 wallSteer=-6.0 (+23.7 ms)
2026-07-02 09:45:32,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.066244] moveTile applied motor speed left=100 right=99 (+21.3 ms)
2026-07-02 09:45:32,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.070424] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:32,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.071023] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:32,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.075844] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:45:32,409 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.89000000000004 deg, practicalMoveTime: 0.10960514474305805 sec
2026-07-02 09:45:32,410 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:45:32,410 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.078307] moveTile loop end practicalMoveTime=0.110 (+2.5 ms)
2026-07-02 09:45:32,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.078675] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,417 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189190>
2026-07-02 09:45:32,423 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:32,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.097428] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.559999999999945 wallSteer=-6.0 (+18.8 ms)
2026-07-02 09:45:32,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.124834] moveTile applied motor speed left=100 right=99 (+27.4 ms)
2026-07-02 09:45:32,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.128572] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:32,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.129108] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:32,467 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.134773] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:32,468 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.86 deg, practicalMoveTime: 0.1676245022083545 sec
2026-07-02 09:45:32,469 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:45:32,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.137432] moveTile loop end practicalMoveTime=0.168 (+2.7 ms)
2026-07-02 09:45:32,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.137801] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,478 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189590>
2026-07-02 09:45:32,484 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,498 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.165767] moveTile calculated motor speeds left=100 right=98 gyroSteer=7.800000000000182 wallSteer=-6.399999999999999 (+28.0 ms)
2026-07-02 09:45:32,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.187780] moveTile applied motor speed left=100 right=98 (+22.0 ms)
2026-07-02 09:45:32,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.191457] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:32,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.191942] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:32,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.196433] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:32,530 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.08000000000004 deg, practicalMoveTime: 0.22799813086673132 sec
2026-07-02 09:45:32,530 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.2 ms
2026-07-02 09:45:32,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.199103] moveTile loop end practicalMoveTime=0.228 (+2.7 ms)
2026-07-02 09:45:32,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.199590] moveTile loop start (+0.5 ms)
2026-07-02 09:45:32,541 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:45:32,547 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.221335] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.240000000000009 wallSteer=-6.399999999999999 (+21.7 ms)
2026-07-02 09:45:32,573 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.241364] moveTile applied motor speed left=96 right=100 (+20.0 ms)
2026-07-02 09:45:32,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.245231] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:32,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.245875] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:32,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.250316] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:32,583 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.58000000000004 deg, practicalMoveTime: 0.2810946676096528 sec
2026-07-02 09:45:32,584 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:45:32,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.252406] moveTile loop end practicalMoveTime=0.281 (+2.1 ms)
2026-07-02 09:45:32,585 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.252774] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,595 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1892d0>
2026-07-02 09:45:32,601 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.276789] moveTile calculated motor speeds left=100 right=98 gyroSteer=7.8400000000001455 wallSteer=-6.399999999999999 (+24.0 ms)
2026-07-02 09:45:32,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.296631] moveTile applied motor speed left=100 right=98 (+19.8 ms)
2026-07-02 09:45:32,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.300264] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:32,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.300828] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:32,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.305922] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:32,639 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.27000000000003865 deg, practicalMoveTime: 0.3364360121317763 sec
2026-07-02 09:45:32,640 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:45:32,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.308436] moveTile loop end practicalMoveTime=0.336 (+2.5 ms)
2026-07-02 09:45:32,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.308813] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,653 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1896d0>
2026-07-02 09:45:32,659 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.335497] moveTile calculated motor speeds left=87 right=100 gyroSteer=7.320000000000164 wallSteer=-20.0 (+26.7 ms)
2026-07-02 09:45:32,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.355903] moveTile applied motor speed left=87 right=100 (+20.4 ms)
2026-07-02 09:45:32,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.360110] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:32,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.360718] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:32,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.366308] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:32,699 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.43 deg, practicalMoveTime: 0.39577188382884504 sec
2026-07-02 09:45:32,700 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:45:32,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.368623] moveTile loop end practicalMoveTime=0.396 (+2.3 ms)
2026-07-02 09:45:32,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.369129] moveTile loop start (+0.5 ms)
2026-07-02 09:45:32,708 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189190>
2026-07-02 09:45:32,715 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.387356] moveTile calculated motor speeds left=99 right=100 gyroSteer=9.240000000000009 wallSteer=-10.0 (+18.2 ms)
2026-07-02 09:45:32,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.407323] moveTile applied motor speed left=99 right=100 (+20.0 ms)
2026-07-02 09:45:32,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.411239] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:32,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.411807] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:32,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.416684] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:32,750 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.68 deg, practicalMoveTime: 0.44605667733034826 sec
2026-07-02 09:45:32,751 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.6 ms
2026-07-02 09:45:32,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.419233] moveTile loop end practicalMoveTime=0.446 (+2.5 ms)
2026-07-02 09:45:32,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.419645] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,757 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189750>
2026-07-02 09:45:32,764 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.438105] moveTile calculated motor speeds left=100 right=98 gyroSteer=12.0 wallSteer=-10.8 (+18.5 ms)
2026-07-02 09:45:32,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.464198] moveTile applied motor speed left=100 right=98 (+26.1 ms)
2026-07-02 09:45:32,804 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.472214] moveTile tile color check tempTileColor=E (+8.0 ms)
2026-07-02 09:45:32,805 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.472906] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:32,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.479004] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:32,813 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.03000000000002956 deg, practicalMoveTime: 0.5078118492239685 sec
2026-07-02 09:45:32,814 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.7 ms
2026-07-02 09:45:32,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.481898] moveTile loop end practicalMoveTime=0.508 (+2.9 ms)
2026-07-02 09:45:32,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.482307] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,822 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1892d0>
2026-07-02 09:45:32,828 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,835 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.502410] moveTile calculated motor speeds left=100 right=99 gyroSteer=8.519999999999982 wallSteer=-8.0 (+20.1 ms)
2026-07-02 09:45:32,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.525406] moveTile applied motor speed left=100 right=99 (+23.0 ms)
2026-07-02 09:45:32,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.529183] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:32,862 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.530008] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:32,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.534580] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:45:32,868 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.561844622178959 sec
2026-07-02 09:45:32,868 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:45:32,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.536572] moveTile loop end practicalMoveTime=0.562 (+2.0 ms)
2026-07-02 09:45:32,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.536988] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,876 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:32,881 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.554088] moveTile calculated motor speeds left=100 right=96 gyroSteer=9.800000000000182 wallSteer=-6.800000000000001 (+17.1 ms)
2026-07-02 09:45:32,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.573912] moveTile applied motor speed left=100 right=96 (+19.8 ms)
2026-07-02 09:45:32,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.577548] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:32,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.578063] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:32,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.583573] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:32,917 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4300000000000068 deg, practicalMoveTime: 0.6109965658772051 sec
2026-07-02 09:45:32,918 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.0 ms
2026-07-02 09:45:32,919 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.586530] moveTile loop end practicalMoveTime=0.611 (+3.0 ms)
2026-07-02 09:45:32,919 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.586938] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,925 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:32,931 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.605601] moveTile calculated motor speeds left=100 right=99 gyroSteer=7.079999999999927 wallSteer=-6.399999999999999 (+18.7 ms)
2026-07-02 09:45:32,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.625419] moveTile applied motor speed left=100 right=99 (+19.8 ms)
2026-07-02 09:45:32,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.629084] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:32,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.630128] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:32,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.636929] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:32,970 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.6628022233104672 sec
2026-07-02 09:45:32,971 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:45:32,971 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.638896] moveTile loop end practicalMoveTime=0.663 (+2.0 ms)
2026-07-02 09:45:32,971 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.639257] moveTile loop start (+0.4 ms)
2026-07-02 09:45:32,978 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189690>
2026-07-02 09:45:32,984 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:32,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.661177] moveTile calculated motor speeds left=99 right=100 gyroSteer=7.599999999999909 wallSteer=-8.0 (+21.9 ms)
2026-07-02 09:45:33,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.682909] moveTile applied motor speed left=99 right=100 (+21.7 ms)
2026-07-02 09:45:33,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.687040] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:33,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.687610] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:33,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.693450] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:33,027 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.98 deg, practicalMoveTime: 0.7187354569786253 sec
2026-07-02 09:45:33,027 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:45:33,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.695517] moveTile loop end practicalMoveTime=0.719 (+2.1 ms)
2026-07-02 09:45:33,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.696135] moveTile loop start (+0.6 ms)
2026-07-02 09:45:33,036 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:33,041 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:33,046 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.714301] moveTile calculated motor speeds left=95 right=100 gyroSteer=3.7200000000000273 wallSteer=-8.399999999999999 (+18.2 ms)
2026-07-02 09:45:33,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.736453] moveTile applied motor speed left=95 right=100 (+22.2 ms)
2026-07-02 09:45:33,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.742680] moveTile tile color check tempTileColor=E (+6.2 ms)
2026-07-02 09:45:33,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.743361] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:33,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.751066] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:45:33,084 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.65000000000003 deg, practicalMoveTime: 0.7756975995103959 sec
2026-07-02 09:45:33,085 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:45:33,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.753172] moveTile loop end practicalMoveTime=0.776 (+2.1 ms)
2026-07-02 09:45:33,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.753541] moveTile loop start (+0.4 ms)
2026-07-02 09:45:33,092 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1891d0>
2026-07-02 09:45:33,097 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:45:33,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.771452] moveTile calculated motor speeds left=95 right=100 gyroSteer=4.360000000000127 wallSteer=-8.8 (+17.9 ms)
2026-07-02 09:45:33,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.790659] moveTile applied motor speed left=95 right=100 (+19.2 ms)
2026-07-02 09:45:33,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.794741] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:33,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.795788] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:33,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.800255] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:33,133 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4900000000000091 deg, practicalMoveTime: 0.8240533178455609 sec
2026-07-02 09:45:33,134 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.1 ms
2026-07-02 09:45:33,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.802121] moveTile loop end practicalMoveTime=0.824 (+1.9 ms)
2026-07-02 09:45:33,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.802483] moveTile loop start (+0.4 ms)
2026-07-02 09:45:33,143 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f45ca50>
2026-07-02 09:45:33,151 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:33,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.826237] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.519999999999982 wallSteer=-7.199999999999999 (+23.8 ms)
2026-07-02 09:45:33,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.852413] moveTile applied motor speed left=96 right=100 (+26.2 ms)
2026-07-02 09:45:33,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.856947] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:45:33,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.857518] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:33,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.862814] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:45:33,196 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.13443599549440058 CM
2026-07-02 09:45:33,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.885838] moveTile finished by time control (+23.0 ms)
2026-07-02 09:45:33,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.886517] moveTile start final forward adjustment (+23.7 ms)
2026-07-02 09:45:33,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.916680] moveTile finished final forward adjustment (+30.2 ms)
2026-07-02 09:45:33,250 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.13443599549440058 cm, past distances: [(-0.0481577876360968, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:33,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [166.918976] moveTile updated moved vertical distance -0.134 (+2.3 ms)
2026-07-02 09:45:33,406 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 50.12671613101877 cm
2026-07-02 09:45:33,407 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 45.021719478375566 cm
2026-07-02 09:45:33,411 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:45:33,413 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 14.034420210661104 cm
2026-07-02 09:45:33,414 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 79.4002146177362 cm
2026-07-02 09:45:33,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [167.082571] moveTile updated map and detected walls (+163.6 ms)
2026-07-02 09:45:33,417 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:33,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [167.085757] moveTile finished (+166.8 ms)
2026-07-02 09:45:33,463 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 2)
2026-07-02 09:45:33,495 - __main__ - [main.py:110] - INFO - Current position: (22, 20, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E | U   U   U   U   U   U  
+   +   +   +   +   +   +   +
| E   E   @   U   U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:33,505 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.NORTH. Prioritizing this tile.
2026-07-02 09:45:33,507 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:45:33,508 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [167.175794] moveTile start direction=absDirection.NORTH position=(22, 20, 0) front=absDirection.EAST
2026-07-02 09:45:33,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [167.180259] moveTile after initial toggle check (+4.5 ms)
2026-07-02 09:45:33,516 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [167.184321] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+4.1 ms)
2026-07-02 09:45:33,517 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (22, 20, 0) facing absDirection.EAST
2026-07-02 09:45:33,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [167.185700] moveTile start heading change target=0 (+1.4 ms)
2026-07-02 09:45:33,543 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 271.14 target: 0
2026-07-02 09:45:34,328 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 354.08, diff: 5.920000000000016
2026-07-02 09:45:34,387 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 359.83 deg
2026-07-02 09:45:34,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.055617] moveTile finished heading change (+869.9 ms)
2026-07-02 09:45:34,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.056171] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:45:34,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.056662] moveTile updated front direction (+0.5 ms)
2026-07-02 09:45:34,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.078977] moveTile stopped motors before alignment (+22.3 ms)
2026-07-02 09:45:34,573 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 44.43258800929714 cm
2026-07-02 09:45:34,577 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 50.273558796688974 cm
2026-07-02 09:45:34,579 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 19.75858228109027 cm
2026-07-02 09:45:34,581 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 74.78804349665418 cm
2026-07-02 09:45:34,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.249291] moveTile start position adjustment using LiDAR for back wall. (+170.3 ms)
2026-07-02 09:45:34,603 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:34,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.442638] moveTile finished backward adjustment (+193.3 ms)
2026-07-02 09:45:34,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.519607] moveTile ready for forward move (+77.0 ms)
2026-07-02 09:45:34,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.547312] moveTile initialized movement targetSteps=1 (+27.7 ms)
2026-07-02 09:45:34,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.548852] moveTile loop start (+1.5 ms)
2026-07-02 09:45:34,887 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d117210>
2026-07-02 09:45:34,894 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:34,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.566981] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.4400000000000546 wallSteer=0.0 (+18.1 ms)
2026-07-02 09:45:34,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.590045] moveTile applied motor speed left=100 right=97 (+23.1 ms)
2026-07-02 09:45:34,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.595651] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:45:34,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.596932] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:45:34,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.601854] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:34,935 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.38 deg, practicalMoveTime: 0.055321315362380746 sec
2026-07-02 09:45:34,936 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:45:34,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.604819] moveTile loop end practicalMoveTime=0.055 (+3.0 ms)
2026-07-02 09:45:34,938 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.605477] moveTile loop start (+0.7 ms)
2026-07-02 09:45:34,943 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189710>
2026-07-02 09:45:34,948 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:45:34,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.621152] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.9600000000000364 wallSteer=0.0 (+15.7 ms)
2026-07-02 09:45:34,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.641231] moveTile applied motor speed left=100 right=96 (+20.1 ms)
2026-07-02 09:45:34,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.645257] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:34,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.645916] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:34,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.651369] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:34,985 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.46000000000004 deg, practicalMoveTime: 0.10463529292021273 sec
2026-07-02 09:45:34,986 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.0 ms
2026-07-02 09:45:34,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.654098] moveTile loop end practicalMoveTime=0.105 (+2.7 ms)
2026-07-02 09:45:34,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.654520] moveTile loop start (+0.4 ms)
2026-07-02 09:45:34,994 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:45:35,002 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:45:35,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.674261] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.0399999999999636 wallSteer=0.0 (+19.7 ms)
2026-07-02 09:45:35,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.697553] moveTile applied motor speed left=100 right=96 (+23.3 ms)
2026-07-02 09:45:35,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.702027] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:45:35,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.702681] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:35,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.714874] moveTile ramp check isBigRamp=False (+12.2 ms)
2026-07-02 09:45:35,048 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.78000000000003 deg, practicalMoveTime: 0.16683538065907264 sec
2026-07-02 09:45:35,049 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.9 ms
2026-07-02 09:45:35,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.717001] moveTile loop end practicalMoveTime=0.167 (+2.1 ms)
2026-07-02 09:45:35,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.717365] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,055 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189290>
2026-07-02 09:45:35,060 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:35,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.736243] moveTile calculated motor speeds left=100 right=98 gyroSteer=1.3199999999999363 wallSteer=0.0 (+18.9 ms)
2026-07-02 09:45:35,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.757591] moveTile applied motor speed left=100 right=98 (+21.3 ms)
2026-07-02 09:45:35,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.762150] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:35,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.762837] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:35,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.769520] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:45:35,103 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12999999999999545 deg, practicalMoveTime: 0.22073619902468555 sec
2026-07-02 09:45:35,103 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:45:35,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.772251] moveTile loop end practicalMoveTime=0.221 (+2.7 ms)
2026-07-02 09:45:35,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.772842] moveTile loop start (+0.6 ms)
2026-07-02 09:45:35,113 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189610>
2026-07-02 09:45:35,119 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:35,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.795390] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.3999999999998636 wallSteer=0.0 (+22.5 ms)
2026-07-02 09:45:35,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.816963] moveTile applied motor speed left=97 right=100 (+21.6 ms)
2026-07-02 09:45:35,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.820807] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:35,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.821368] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:35,159 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.827185] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:35,160 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.78000000000003 deg, practicalMoveTime: 0.27783845828530074 sec
2026-07-02 09:45:35,161 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:45:35,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.829340] moveTile loop end practicalMoveTime=0.278 (+2.2 ms)
2026-07-02 09:45:35,162 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.829707] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,169 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1898d0>
2026-07-02 09:45:35,176 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:45:35,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.854197] moveTile calculated motor speeds left=99 right=100 gyroSteer=-2.480000000000018 wallSteer=2.0 (+24.5 ms)
2026-07-02 09:45:35,208 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.875633] moveTile applied motor speed left=99 right=100 (+21.4 ms)
2026-07-02 09:45:35,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.879770] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:35,213 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.880481] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:35,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.886381] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:35,220 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.97 deg, practicalMoveTime: 0.336566668313577 sec
2026-07-02 09:45:35,221 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.2 ms
2026-07-02 09:45:35,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.889563] moveTile loop end practicalMoveTime=0.337 (+3.2 ms)
2026-07-02 09:45:35,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.889975] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,229 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189610>
2026-07-02 09:45:35,235 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:35,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.911967] moveTile calculated motor speeds left=100 right=84 gyroSteer=-4.3599999999999 wallSteer=20.0 (+22.0 ms)
2026-07-02 09:45:35,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.933895] moveTile applied motor speed left=100 right=84 (+21.9 ms)
2026-07-02 09:45:35,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.937605] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:35,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.938194] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:35,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.943217] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:45:35,276 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.0 deg, practicalMoveTime: 0.39179633216245396 sec
2026-07-02 09:45:35,277 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:45:35,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.945325] moveTile loop end practicalMoveTime=0.392 (+2.1 ms)
2026-07-02 09:45:35,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.945691] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,285 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1899d0>
2026-07-02 09:45:35,291 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:35,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.965424] moveTile calculated motor speeds left=100 right=99 gyroSteer=-3.4400000000000546 wallSteer=4.400000000000002 (+19.7 ms)
2026-07-02 09:45:35,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.985765] moveTile applied motor speed left=100 right=99 (+20.3 ms)
2026-07-02 09:45:35,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.990697] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:45:35,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.991737] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:35,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.997456] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:35,331 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.44529840801246007 sec
2026-07-02 09:45:35,331 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:45:35,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.999571] moveTile loop end practicalMoveTime=0.445 (+2.1 ms)
2026-07-02 09:45:35,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [168.999943] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,337 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189850>
2026-07-02 09:45:35,344 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:35,349 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.016882] moveTile calculated motor speeds left=96 right=100 gyroSteer=-6.920000000000073 wallSteer=3.599999999999998 (+16.9 ms)
2026-07-02 09:45:35,369 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.036837] moveTile applied motor speed left=96 right=100 (+20.0 ms)
2026-07-02 09:45:35,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.040486] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:35,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.041049] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:35,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.051625] moveTile ramp check isBigRamp=False (+10.6 ms)
2026-07-02 09:45:35,385 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.4989525724714328 sec
2026-07-02 09:45:35,386 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:45:35,387 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.054648] moveTile loop end practicalMoveTime=0.499 (+3.0 ms)
2026-07-02 09:45:35,387 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.055069] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,393 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189290>
2026-07-02 09:45:35,401 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:35,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.074405] moveTile calculated motor speeds left=88 right=100 gyroSteer=-15.399999999999864 wallSteer=3.6000000000000014 (+19.3 ms)
2026-07-02 09:45:35,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.094522] moveTile applied motor speed left=88 right=100 (+20.1 ms)
2026-07-02 09:45:35,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.098806] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:35,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.099458] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:35,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.103750] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:35,437 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.89000000000004 deg, practicalMoveTime: 0.54956076872884 sec
2026-07-02 09:45:35,438 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:45:35,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.105847] moveTile loop end practicalMoveTime=0.550 (+2.1 ms)
2026-07-02 09:45:35,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.106275] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,448 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189490>
2026-07-02 09:45:35,455 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:35,462 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.129525] moveTile calculated motor speeds left=87 right=100 gyroSteer=-15.200000000000045 wallSteer=2.799999999999997 (+23.3 ms)
2026-07-02 09:45:35,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.150735] moveTile applied motor speed left=87 right=100 (+21.2 ms)
2026-07-02 09:45:35,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.154384] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:35,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.154978] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:35,493 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.161238] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:35,494 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.41 deg, practicalMoveTime: 0.6063197393679651 sec
2026-07-02 09:45:35,495 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:45:35,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.163183] moveTile loop end practicalMoveTime=0.606 (+1.9 ms)
2026-07-02 09:45:35,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.163541] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,506 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189490>
2026-07-02 09:45:35,513 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:35,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.189429] moveTile calculated motor speeds left=88 right=100 gyroSteer=-13.599999999999909 wallSteer=2.3999999999999986 (+25.9 ms)
2026-07-02 09:45:35,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.209371] moveTile applied motor speed left=88 right=100 (+19.9 ms)
2026-07-02 09:45:35,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.214549] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:45:35,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.215245] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:35,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.219569] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:35,553 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.35000000000002274 deg, practicalMoveTime: 0.6640738936420713 sec
2026-07-02 09:45:35,554 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.1 ms
2026-07-02 09:45:35,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.222248] moveTile loop end practicalMoveTime=0.664 (+2.7 ms)
2026-07-02 09:45:35,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.222660] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,561 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:35,568 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:45:35,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.242432] moveTile calculated motor speeds left=91 right=100 gyroSteer=-11.200000000000045 wallSteer=2.8000000000000007 (+19.8 ms)
2026-07-02 09:45:35,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.262518] moveTile applied motor speed left=91 right=100 (+20.1 ms)
2026-07-02 09:45:35,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.266403] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:35,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.266935] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:35,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.271333] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:35,605 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.68 deg, practicalMoveTime: 0.7147401509205935 sec
2026-07-02 09:45:35,606 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:45:35,606 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.274142] moveTile loop end practicalMoveTime=0.715 (+2.8 ms)
2026-07-02 09:45:35,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.274526] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,614 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189850>
2026-07-02 09:45:35,620 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=254.9
2026-07-02 09:45:35,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.293985] moveTile calculated motor speeds left=88 right=100 gyroSteer=-8.160000000000082 wallSteer=-3.1999999999999993 (+19.5 ms)
2026-07-02 09:45:35,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.313527] moveTile applied motor speed left=88 right=100 (+19.5 ms)
2026-07-02 09:45:35,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.320234] moveTile tile color check tempTileColor=E (+6.7 ms)
2026-07-02 09:45:35,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.320971] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:35,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.329426] moveTile ramp check isBigRamp=False (+8.5 ms)
2026-07-02 09:45:35,663 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.6 deg, practicalMoveTime: 0.7715388937709833 sec
2026-07-02 09:45:35,663 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:45:35,664 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.331545] moveTile loop end practicalMoveTime=0.772 (+2.1 ms)
2026-07-02 09:45:35,664 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.331924] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,669 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a10>
2026-07-02 09:45:35,675 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.8
2026-07-02 09:45:35,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.349129] moveTile calculated motor speeds left=90 right=100 gyroSteer=-5.879999999999882 wallSteer=-3.1999999999999993 (+17.2 ms)
2026-07-02 09:45:35,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.369049] moveTile applied motor speed left=90 right=100 (+19.9 ms)
2026-07-02 09:45:35,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.374334] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:35,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.374907] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:35,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.387168] moveTile ramp check isBigRamp=False (+12.3 ms)
2026-07-02 09:45:35,721 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.79 deg, practicalMoveTime: 0.8290994278607439 sec
2026-07-02 09:45:35,722 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:45:35,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.390310] moveTile loop end practicalMoveTime=0.829 (+3.1 ms)
2026-07-02 09:45:35,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.390718] moveTile loop start (+0.4 ms)
2026-07-02 09:45:35,729 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1891d0>
2026-07-02 09:45:35,735 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.9, S=255.0, V=254.4
2026-07-02 09:45:35,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.408119] moveTile calculated motor speeds left=94 right=100 gyroSteer=-1.5199999999999818 wallSteer=-3.6000000000000014 (+17.4 ms)
2026-07-02 09:45:35,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.429382] moveTile applied motor speed left=94 right=100 (+21.3 ms)
2026-07-02 09:45:35,765 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.433013] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:35,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.433520] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:35,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.439424] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:35,773 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.11566273382140592 CM
2026-07-02 09:45:35,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.467302] moveTile finished by time control (+27.9 ms)
2026-07-02 09:45:35,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.467990] moveTile start final forward adjustment (+28.6 ms)
2026-07-02 09:45:35,831 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:45:35,847 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:11.2
2026-07-02 09:45:35,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.535607] moveTile finished final forward adjustment (+67.6 ms)
2026-07-02 09:45:35,869 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.11566273382140592 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:35,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.537191] moveTile updated moved vertical distance -0.116 (+1.6 ms)
2026-07-02 09:45:36,013 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 10.973204552858066 cm
2026-07-02 09:45:36,016 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:45:36,018 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 10.973204552858066 cm, TSD10 distance: 1.2 cm
2026-07-02 09:45:36,019 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.647999122825828 cm
2026-07-02 09:45:36,021 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 135.77647322704928 cm
2026-07-02 09:45:36,022 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.58988620356761 cm
2026-07-02 09:45:36,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.691055] moveTile updated map and detected walls (+153.9 ms)
2026-07-02 09:45:36,029 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:36,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.697533] moveTile finished (+160.3 ms)
2026-07-02 09:45:36,068 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:45:36,097 - __main__ - [main.py:110] - INFO - Current position: (22, 19, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +---+   +   +   +   +
| E | U | @ | U   U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   U   U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:36,104 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (23, 20, 0)
2026-07-02 09:45:36,106 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:45:36,107 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [169.774672] moveTile start direction=absDirection.SOUTH position=(22, 19, 0) front=absDirection.NORTH
2026-07-02 09:45:36,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.780173] moveTile after initial toggle check (+5.5 ms)
2026-07-02 09:45:36,114 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.782345] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:45:36,115 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (22, 19, 0) facing absDirection.NORTH
2026-07-02 09:45:36,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [169.783300] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:45:36,141 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 0.040000000000020464 target: 90
2026-07-02 09:45:37,231 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 84.13, diff: 5.8700000000000045
2026-07-02 09:45:37,297 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 88.99000000000001 deg
2026-07-02 09:45:37,323 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.54000000000002 target: 180
2026-07-02 09:45:37,369 - mazeUtils.moveTile - [moveTile.py:385] - INFO - Find victim on RIGHT side during turn: UnitVStatus.S_VICTIM
2026-07-02 09:45:42,531 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 93.37 target: 93.37
2026-07-02 09:45:42,554 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 93.37, diff: 0.0
2026-07-02 09:45:42,597 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 93.37 deg
2026-07-02 09:45:43,441 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 94.53000000000003 target: 93.37
2026-07-02 09:45:43,460 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 94.53000000000003, diff: 1.160000000000025
2026-07-02 09:45:43,506 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 94.53000000000003 deg
2026-07-02 09:45:43,508 - mazeUtils.moveTile - [moveTile.py:397] - INFO - Dropped rescue kit, detected victim info: {<Side.LEFT: 0>: <UnitVStatus.NOTHING: 0>, <Side.RIGHT: 1>: <UnitVStatus.S_VICTIM: 2>}
2026-07-02 09:45:44,492 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 174.38, diff: 5.6200000000000045
2026-07-02 09:45:44,551 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 178.13 deg
2026-07-02 09:45:44,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.219012] moveTile finished heading change (+8435.7 ms)
2026-07-02 09:45:44,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.219310] Adjustment after ramp completed (+0.3 ms)
2026-07-02 09:45:44,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.219597] moveTile updated front direction (+0.3 ms)
2026-07-02 09:45:44,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.241558] moveTile stopped motors before alignment (+22.0 ms)
2026-07-02 09:45:44,714 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 18.6673092604749 cm
2026-07-02 09:45:44,715 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 17.299999237060547 cm
2026-07-02 09:45:44,715 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 44.723027904474264 cm
2026-07-02 09:45:44,717 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 14.397806428840408 cm
2026-07-02 09:45:44,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.385902] moveTile start position adjustment using LiDAR for back wall. (+144.3 ms)
2026-07-02 09:45:44,740 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:45:44,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.584347] moveTile finished backward adjustment (+198.4 ms)
2026-07-02 09:45:44,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.665486] moveTile ready for forward move (+81.1 ms)
2026-07-02 09:45:45,029 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:45:45,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.697995] moveTile initialized movement targetSteps=1 (+32.5 ms)
2026-07-02 09:45:45,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.698953] moveTile loop start (+1.0 ms)
2026-07-02 09:45:45,037 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:45,041 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:45,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.715038] moveTile calculated motor speeds left=93 right=100 gyroSteer=0.7599999999999909 wallSteer=-6.799999999999997 (+16.1 ms)
2026-07-02 09:45:45,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.739485] moveTile applied motor speed left=93 right=100 (+24.4 ms)
2026-07-02 09:45:45,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.745404] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:45:45,078 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.745936] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.752176] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:45,085 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.05547496855536932 sec
2026-07-02 09:45:45,085 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:45:45,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.753592] moveTile loop end practicalMoveTime=0.055 (+1.4 ms)
2026-07-02 09:45:45,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.753837] moveTile loop start (+0.2 ms)
2026-07-02 09:45:45,092 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:45,097 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:45,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.771672] moveTile calculated motor speeds left=100 right=99 gyroSteer=7.080000000000041 wallSteer=-6.799999999999997 (+17.8 ms)
2026-07-02 09:45:45,124 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.791397] moveTile applied motor speed left=100 right=99 (+19.7 ms)
2026-07-02 09:45:45,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.795022] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:45,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.795563] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.802116] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:45:45,135 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.10500261903158718 sec
2026-07-02 09:45:45,135 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.4 ms
2026-07-02 09:45:45,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.803552] moveTile loop end practicalMoveTime=0.105 (+1.4 ms)
2026-07-02 09:45:45,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.803794] moveTile loop start (+0.2 ms)
2026-07-02 09:45:45,145 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:45,150 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:45:45,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.826272] moveTile calculated motor speeds left=100 right=99 gyroSteer=7.1200000000000045 wallSteer=-6.399999999999999 (+22.5 ms)
2026-07-02 09:45:45,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.853416] moveTile applied motor speed left=100 right=99 (+27.1 ms)
2026-07-02 09:45:45,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.856821] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:45:45,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.857209] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:45:45,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.861459] moveTile ramp check isBigRamp=False (+4.2 ms)
2026-07-02 09:45:45,194 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.15000000000003 deg, practicalMoveTime: 0.1638631189406933 sec
2026-07-02 09:45:45,195 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.7 ms
2026-07-02 09:45:45,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.862798] moveTile loop end practicalMoveTime=0.164 (+1.3 ms)
2026-07-02 09:45:45,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.863017] moveTile loop start (+0.2 ms)
2026-07-02 09:45:45,203 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:45,207 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:45,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.880033] moveTile calculated motor speeds left=100 right=97 gyroSteer=9.32000000000005 wallSteer=-6.399999999999999 (+17.0 ms)
2026-07-02 09:45:45,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.899469] moveTile applied motor speed left=100 right=97 (+19.4 ms)
2026-07-02 09:45:45,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.902924] moveTile tile color check tempTileColor=E (+3.5 ms)
2026-07-02 09:45:45,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.903425] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.907405] moveTile ramp check isBigRamp=False (+4.0 ms)
2026-07-02 09:45:45,240 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.30000000000001137 deg, practicalMoveTime: 0.2093351175309678 sec
2026-07-02 09:45:45,241 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 45.4 ms
2026-07-02 09:45:45,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.908733] moveTile loop end practicalMoveTime=0.209 (+1.3 ms)
2026-07-02 09:45:45,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.908952] moveTile loop start (+0.2 ms)
2026-07-02 09:45:45,252 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189810>
2026-07-02 09:45:45,257 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:45:45,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.932405] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.440000000000055 wallSteer=-6.0 (+23.5 ms)
2026-07-02 09:45:45,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.958864] moveTile applied motor speed left=100 right=99 (+26.5 ms)
2026-07-02 09:45:45,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.964918] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:45:45,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.965558] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:45,303 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.971205] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:45,304 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.2727287729101409 sec
2026-07-02 09:45:45,305 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.4 ms
2026-07-02 09:45:45,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.972853] moveTile loop end practicalMoveTime=0.273 (+1.6 ms)
2026-07-02 09:45:45,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.973163] moveTile loop start (+0.3 ms)
2026-07-02 09:45:45,312 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f2837d0>
2026-07-02 09:45:45,317 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:45,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [178.990076] moveTile calculated motor speeds left=98 right=100 gyroSteer=3.6400000000001 wallSteer=-5.600000000000001 (+16.9 ms)
2026-07-02 09:45:45,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.015231] moveTile applied motor speed left=98 right=100 (+25.2 ms)
2026-07-02 09:45:45,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.021968] moveTile tile color check tempTileColor=E (+6.7 ms)
2026-07-02 09:45:45,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.022511] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.026473] moveTile ramp check isBigRamp=False (+4.0 ms)
2026-07-02 09:45:45,360 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.32773422383655026 sec
2026-07-02 09:45:45,360 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:45:45,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.029012] moveTile loop end practicalMoveTime=0.328 (+2.5 ms)
2026-07-02 09:45:45,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.029396] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,368 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189810>
2026-07-02 09:45:45,373 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:45:45,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.046194] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.7200000000000273 wallSteer=-5.200000000000003 (+16.8 ms)
2026-07-02 09:45:45,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.066924] moveTile applied motor speed left=96 right=100 (+20.7 ms)
2026-07-02 09:45:45,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.071334] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:45,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.071840] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.082510] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:45:45,415 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.3827415883012732 sec
2026-07-02 09:45:45,416 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:45:45,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.083893] moveTile loop end practicalMoveTime=0.383 (+1.4 ms)
2026-07-02 09:45:45,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.084197] moveTile loop start (+0.3 ms)
2026-07-02 09:45:45,428 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:45,433 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:45,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.108418] moveTile calculated motor speeds left=95 right=100 gyroSteer=3.4400000000000546 wallSteer=-7.600000000000001 (+24.2 ms)
2026-07-02 09:45:45,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.133307] moveTile applied motor speed left=95 right=100 (+24.9 ms)
2026-07-02 09:45:45,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.136945] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:45,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.137466] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.142013] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:45,476 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18000000000000682 deg, practicalMoveTime: 0.4426048602389472 sec
2026-07-02 09:45:45,476 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:45:45,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.144784] moveTile loop end practicalMoveTime=0.443 (+2.8 ms)
2026-07-02 09:45:45,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.145153] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,482 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:45,488 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:45,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.163095] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.5599999999999454 wallSteer=0.0 (+17.9 ms)
2026-07-02 09:45:45,523 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.190956] moveTile applied motor speed left=100 right=96 (+27.9 ms)
2026-07-02 09:45:45,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.196244] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:45,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.196984] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:45,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.202841] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:45,536 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.5020572758760673 sec
2026-07-02 09:45:45,537 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.2 ms
2026-07-02 09:45:45,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.204878] moveTile loop end practicalMoveTime=0.502 (+2.0 ms)
2026-07-02 09:45:45,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.205271] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,543 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:45,549 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:45,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.222188] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.9600000000000364 wallSteer=0.0 (+16.9 ms)
2026-07-02 09:45:45,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.241841] moveTile applied motor speed left=100 right=97 (+19.7 ms)
2026-07-02 09:45:45,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.246267] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:45,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.247141] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:45,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.257460] moveTile ramp check isBigRamp=False (+10.3 ms)
2026-07-02 09:45:45,591 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7400000000000091 deg, practicalMoveTime: 0.5560514809418703 sec
2026-07-02 09:45:45,591 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:45:45,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.259482] moveTile loop end practicalMoveTime=0.556 (+2.0 ms)
2026-07-02 09:45:45,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.259862] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,603 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d932710>
2026-07-02 09:45:45,608 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:45:45,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.282760] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.39999999999997726 wallSteer=0.0 (+22.9 ms)
2026-07-02 09:45:45,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.308198] moveTile applied motor speed left=99 right=100 (+25.4 ms)
2026-07-02 09:45:45,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.312995] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:45:45,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.313747] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:45,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.320298] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:45:45,653 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.08000000000004093 deg, practicalMoveTime: 0.6182634106555863 sec
2026-07-02 09:45:45,654 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.1 ms
2026-07-02 09:45:45,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.322537] moveTile loop end practicalMoveTime=0.618 (+2.2 ms)
2026-07-02 09:45:45,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.322943] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,664 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:45,672 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:45:45,677 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.344819] moveTile calculated motor speeds left=100 right=94 gyroSteer=5.7999999999999545 wallSteer=0.0 (+21.9 ms)
2026-07-02 09:45:45,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.371617] moveTile applied motor speed left=100 right=94 (+26.8 ms)
2026-07-02 09:45:45,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.375604] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:45,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.376371] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:45,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.382175] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:45,716 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.6795539957035857 sec
2026-07-02 09:45:45,717 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.5 ms
2026-07-02 09:45:45,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.385000] moveTile loop end practicalMoveTime=0.680 (+2.8 ms)
2026-07-02 09:45:45,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.385370] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,723 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:45,729 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:45,736 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.403707] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.32000000000005 wallSteer=0.0 (+18.3 ms)
2026-07-02 09:45:45,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.423956] moveTile applied motor speed left=100 right=99 (+20.2 ms)
2026-07-02 09:45:45,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.428154] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:45,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.428903] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:45,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.433986] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:45,767 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6000000000000227 deg, practicalMoveTime: 0.7299216886477982 sec
2026-07-02 09:45:45,768 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:45:45,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.436591] moveTile loop end practicalMoveTime=0.730 (+2.6 ms)
2026-07-02 09:45:45,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.437601] moveTile loop start (+1.0 ms)
2026-07-02 09:45:45,776 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:45,782 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:45,789 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.456567] moveTile calculated motor speeds left=100 right=98 gyroSteer=1.1200000000000045 wallSteer=0.0 (+19.0 ms)
2026-07-02 09:45:45,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.477197] moveTile applied motor speed left=100 right=98 (+20.6 ms)
2026-07-02 09:45:45,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.481205] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:45,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.481746] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:45,819 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.486576] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:45:45,820 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.7818625425370223 sec
2026-07-02 09:45:45,821 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:45:45,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.489225] moveTile loop end practicalMoveTime=0.782 (+2.6 ms)
2026-07-02 09:45:45,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.489596] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,826 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:45,833 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.2, S=255.0, V=252.4
2026-07-02 09:45:45,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.507627] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.8799999999999955 wallSteer=0.0 (+18.0 ms)
2026-07-02 09:45:45,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.530372] moveTile applied motor speed left=93 right=100 (+22.7 ms)
2026-07-02 09:45:45,866 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.534254] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:45,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.535212] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:45,874 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.541406] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:45,875 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.55 deg, practicalMoveTime: 0.8355749228111434 sec
2026-07-02 09:45:45,876 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:45:45,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.543929] moveTile loop end practicalMoveTime=0.836 (+2.5 ms)
2026-07-02 09:45:45,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.544375] moveTile loop start (+0.4 ms)
2026-07-02 09:45:45,883 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b90>
2026-07-02 09:45:45,889 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=103.2, S=255.0, V=250.7
2026-07-02 09:45:45,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.562889] moveTile calculated motor speeds left=97 right=100 gyroSteer=-3.0 wallSteer=0.0 (+18.5 ms)
2026-07-02 09:45:45,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.582968] moveTile applied motor speed left=97 right=100 (+20.1 ms)
2026-07-02 09:45:45,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.589063] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:45:45,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.589783] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:45,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.594182] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:45,927 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.12196913073923213 CM
2026-07-02 09:45:45,949 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.616894] moveTile finished by time control (+22.7 ms)
2026-07-02 09:45:45,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.617686] moveTile start final forward adjustment (+23.5 ms)
2026-07-02 09:45:45,979 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:45:45,996 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.4
2026-07-02 09:45:46,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.685858] moveTile finished final forward adjustment (+68.2 ms)
2026-07-02 09:45:46,170 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 53.63840556689608 cm
2026-07-02 09:45:46,172 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 51.097830836035875 cm
2026-07-02 09:45:46,173 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 10.867312874568052 cm
2026-07-02 09:45:46,176 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 10.867312874568052 cm, TSD10 distance: 0.7 cm
2026-07-02 09:45:46,177 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 73.61177581244196 cm
2026-07-02 09:45:46,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.846456] moveTile updated map and detected walls (+160.6 ms)
2026-07-02 09:45:46,181 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:46,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.850612] moveTile finished (+164.8 ms)
2026-07-02 09:45:46,224 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:45:46,254 - __main__ - [main.py:110] - INFO - Current position: (22, 20, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | U   U   U   U  
+   +   +   +   +   +   +   +
| E   E   @   U   U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:46,262 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [179.930159] moveTile start direction=absDirection.EAST position=(22, 20, 0) front=absDirection.SOUTH
2026-07-02 09:45:46,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.937506] moveTile after initial toggle check (+7.3 ms)
2026-07-02 09:45:46,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.939654] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.1 ms)
2026-07-02 09:45:46,272 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (22, 20, 0) facing absDirection.SOUTH
2026-07-02 09:45:46,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [179.940643] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:45:46,296 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 179.10000000000002 target: 270
2026-07-02 09:45:47,191 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 265.12, diff: 4.8799999999999955
2026-07-02 09:45:47,250 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.37 deg
2026-07-02 09:45:47,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [180.918904] moveTile finished heading change (+978.3 ms)
2026-07-02 09:45:47,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [180.919348] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:45:47,252 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:45:48,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [181.951639] moveTile updated front direction (+1032.3 ms)
2026-07-02 09:45:48,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [181.972518] moveTile stopped motors before alignment (+20.9 ms)
2026-07-02 09:45:48,457 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 48.19970020571035 cm
2026-07-02 09:45:48,459 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 46.093889967020935 cm
2026-07-02 09:45:48,462 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.776975421982968 cm
2026-07-02 09:45:48,462 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 78.62728616910984 cm
2026-07-02 09:45:48,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.130646] moveTile ready for forward move (+158.1 ms)
2026-07-02 09:45:48,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.156979] moveTile initialized movement targetSteps=1 (+26.3 ms)
2026-07-02 09:45:48,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.158011] moveTile loop start (+1.0 ms)
2026-07-02 09:45:48,494 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:48,499 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:48,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.177881] moveTile calculated motor speeds left=100 right=78 gyroSteer=21.279999999999973 wallSteer=0.0 (+19.9 ms)
2026-07-02 09:45:48,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.200908] moveTile applied motor speed left=100 right=78 (+23.0 ms)
2026-07-02 09:45:48,538 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.206044] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:45:48,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.206668] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:48,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.212258] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:48,545 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.040000000000020464 deg, practicalMoveTime: 0.05611012998779783 sec
2026-07-02 09:45:48,546 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:45:48,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.214238] moveTile loop end practicalMoveTime=0.056 (+2.0 ms)
2026-07-02 09:45:48,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.214605] moveTile loop start (+0.4 ms)
2026-07-02 09:45:48,553 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189290>
2026-07-02 09:45:48,559 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:48,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.236363] moveTile calculated motor speeds left=100 right=81 gyroSteer=19.840000000000146 wallSteer=-1.1999999999999993 (+21.8 ms)
2026-07-02 09:45:48,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.258235] moveTile applied motor speed left=100 right=81 (+21.9 ms)
2026-07-02 09:45:48,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.261853] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:48,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.262396] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:48,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.268116] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:48,602 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.73 deg, practicalMoveTime: 0.11208852187988408 sec
2026-07-02 09:45:48,603 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:45:48,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.270863] moveTile loop end practicalMoveTime=0.112 (+2.7 ms)
2026-07-02 09:45:48,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.271223] moveTile loop start (+0.4 ms)
2026-07-02 09:45:48,608 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189990>
2026-07-02 09:45:48,614 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:45:48,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.287133] moveTile calculated motor speeds left=100 right=77 gyroSteer=22.960000000000036 wallSteer=0.0 (+15.9 ms)
2026-07-02 09:45:48,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.306436] moveTile applied motor speed left=100 right=77 (+19.3 ms)
2026-07-02 09:45:48,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.310453] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:48,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.311054] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:48,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.316554] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:48,651 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9700000000000273 deg, practicalMoveTime: 0.16031917143144392 sec
2026-07-02 09:45:48,651 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.0 ms
2026-07-02 09:45:48,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.319796] moveTile loop end practicalMoveTime=0.160 (+3.2 ms)
2026-07-02 09:45:48,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.320277] moveTile loop start (+0.5 ms)
2026-07-02 09:45:48,662 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:45:48,669 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:48,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.341288] moveTile calculated motor speeds left=100 right=83 gyroSteer=19.960000000000036 wallSteer=-3.1999999999999993 (+21.0 ms)
2026-07-02 09:45:48,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.361243] moveTile applied motor speed left=100 right=83 (+20.0 ms)
2026-07-02 09:45:48,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.365380] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:48,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.366181] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:48,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.373064] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:48,706 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.59000000000003 deg, practicalMoveTime: 0.21491729706497967 sec
2026-07-02 09:45:48,707 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:45:48,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.375180] moveTile loop end practicalMoveTime=0.215 (+2.1 ms)
2026-07-02 09:45:48,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.376179] moveTile loop start (+1.0 ms)
2026-07-02 09:45:48,713 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:48,721 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:48,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.397010] moveTile calculated motor speeds left=100 right=89 gyroSteer=14.160000000000082 wallSteer=-3.1999999999999993 (+20.8 ms)
2026-07-02 09:45:48,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.423595] moveTile applied motor speed left=100 right=89 (+26.6 ms)
2026-07-02 09:45:48,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.427285] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:48,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.427863] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:48,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.433648] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:48,767 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.94 deg, practicalMoveTime: 0.2752032756821463 sec
2026-07-02 09:45:48,768 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.4 ms
2026-07-02 09:45:48,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.436285] moveTile loop end practicalMoveTime=0.275 (+2.6 ms)
2026-07-02 09:45:48,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.436723] moveTile loop start (+0.4 ms)
2026-07-02 09:45:48,776 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:45:48,783 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:48,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.460098] moveTile calculated motor speeds left=100 right=89 gyroSteer=13.320000000000164 wallSteer=-3.1999999999999993 (+23.4 ms)
2026-07-02 09:45:48,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.481578] moveTile applied motor speed left=100 right=89 (+21.5 ms)
2026-07-02 09:45:48,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.485193] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:48,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.485694] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:48,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.490677] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:45:48,825 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.82000000000005 deg, practicalMoveTime: 0.3322381254848251 sec
2026-07-02 09:45:48,826 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:45:48,826 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.494270] moveTile loop end practicalMoveTime=0.332 (+3.6 ms)
2026-07-02 09:45:48,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.494776] moveTile loop start (+0.5 ms)
2026-07-02 09:45:48,837 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189ad0>
2026-07-02 09:45:48,843 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:45:48,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.515256] moveTile calculated motor speeds left=100 right=93 gyroSteer=10.440000000000055 wallSteer=-3.6000000000000014 (+20.5 ms)
2026-07-02 09:45:48,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.536163] moveTile applied motor speed left=100 right=93 (+20.9 ms)
2026-07-02 09:45:48,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.539819] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:48,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.540427] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:48,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.546485] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:48,880 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5800000000000409 deg, practicalMoveTime: 0.3859813567752442 sec
2026-07-02 09:45:48,880 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:45:48,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.548531] moveTile loop end practicalMoveTime=0.386 (+2.0 ms)
2026-07-02 09:45:48,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.548901] moveTile loop start (+0.4 ms)
2026-07-02 09:45:48,888 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:48,895 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:45:48,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.568724] moveTile calculated motor speeds left=100 right=91 gyroSteer=9.320000000000164 wallSteer=-1.1999999999999993 (+19.8 ms)
2026-07-02 09:45:48,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.589491] moveTile applied motor speed left=100 right=91 (+20.8 ms)
2026-07-02 09:45:48,925 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.593140] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:48,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.593716] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:48,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.598104] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:48,931 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4700000000000273 deg, practicalMoveTime: 0.4369783286784625 sec
2026-07-02 09:45:48,933 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:45:48,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.601146] moveTile loop end practicalMoveTime=0.437 (+3.0 ms)
2026-07-02 09:45:48,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.601551] moveTile loop start (+0.4 ms)
2026-07-02 09:45:48,943 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:45:48,948 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:48,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.623102] moveTile calculated motor speeds left=100 right=92 gyroSteer=11.360000000000127 wallSteer=-4.0 (+21.6 ms)
2026-07-02 09:45:48,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.643995] moveTile applied motor speed left=100 right=92 (+20.9 ms)
2026-07-02 09:45:48,980 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.647995] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:48,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.648794] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:48,987 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.654723] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:45:48,988 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.68 deg, practicalMoveTime: 0.4925223155907543 sec
2026-07-02 09:45:48,989 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:45:48,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.657728] moveTile loop end practicalMoveTime=0.493 (+3.0 ms)
2026-07-02 09:45:48,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.658839] moveTile loop start (+1.1 ms)
2026-07-02 09:45:48,997 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:49,005 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:45:49,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.681305] moveTile calculated motor speeds left=100 right=85 gyroSteer=12.200000000000045 wallSteer=2.400000000000002 (+22.5 ms)
2026-07-02 09:45:49,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.703384] moveTile applied motor speed left=100 right=85 (+22.1 ms)
2026-07-02 09:45:49,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.707459] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:49,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.708081] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:49,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.712534] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:45:49,047 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.490000000000009 deg, practicalMoveTime: 0.5506777323175556 sec
2026-07-02 09:45:49,048 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.0 ms
2026-07-02 09:45:49,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.716462] moveTile loop end practicalMoveTime=0.551 (+3.9 ms)
2026-07-02 09:45:49,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.716844] moveTile loop start (+0.4 ms)
2026-07-02 09:45:49,055 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:45:49,061 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:49,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.737736] moveTile calculated motor speeds left=100 right=92 gyroSteer=7.559999999999945 wallSteer=0.3999999999999986 (+20.9 ms)
2026-07-02 09:45:49,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.759249] moveTile applied motor speed left=100 right=92 (+21.5 ms)
2026-07-02 09:45:49,096 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.763801] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:49,097 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.764527] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:49,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.769903] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:45:49,103 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.6 deg, practicalMoveTime: 0.6059723290082677 sec
2026-07-02 09:45:49,104 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:45:49,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.772894] moveTile loop end practicalMoveTime=0.606 (+3.0 ms)
2026-07-02 09:45:49,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.773324] moveTile loop start (+0.4 ms)
2026-07-02 09:45:49,112 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:49,119 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:49,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.796190] moveTile calculated motor speeds left=100 right=91 gyroSteer=8.639999999999873 wallSteer=0.0 (+22.9 ms)
2026-07-02 09:45:49,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.817690] moveTile applied motor speed left=100 right=91 (+21.5 ms)
2026-07-02 09:45:49,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.822905] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:45:49,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.823694] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:49,161 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.829148] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:49,162 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8700000000000045 deg, practicalMoveTime: 0.663881340034505 sec
2026-07-02 09:45:49,163 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:45:49,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.831207] moveTile loop end practicalMoveTime=0.664 (+2.1 ms)
2026-07-02 09:45:49,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.831756] moveTile loop start (+0.5 ms)
2026-07-02 09:45:49,170 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da15c10>
2026-07-02 09:45:49,176 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:49,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.849629] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.8400000000001455 wallSteer=0.0 (+17.9 ms)
2026-07-02 09:45:49,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.873978] moveTile applied motor speed left=100 right=97 (+24.3 ms)
2026-07-02 09:45:49,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.877658] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:49,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.878226] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:49,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.884483] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:49,218 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.73 deg, practicalMoveTime: 0.7186540625591132 sec
2026-07-02 09:45:49,218 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:45:49,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.886491] moveTile loop end practicalMoveTime=0.719 (+2.0 ms)
2026-07-02 09:45:49,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.886850] moveTile loop start (+0.4 ms)
2026-07-02 09:45:49,225 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:45:49,231 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:49,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.906791] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.07999999999992724 wallSteer=0.0 (+19.9 ms)
2026-07-02 09:45:49,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.926119] moveTile applied motor speed left=99 right=100 (+19.3 ms)
2026-07-02 09:45:49,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.931456] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:49,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.932355] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:49,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.937132] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:45:49,270 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.7706073001937247 sec
2026-07-02 09:45:49,271 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:45:49,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.939048] moveTile loop end practicalMoveTime=0.771 (+1.9 ms)
2026-07-02 09:45:49,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.939793] moveTile loop start (+0.7 ms)
2026-07-02 09:45:49,277 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:49,283 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:45:49,289 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.956644] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.480000000000018 wallSteer=0.0 (+16.9 ms)
2026-07-02 09:45:49,309 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.976622] moveTile applied motor speed left=94 right=100 (+20.0 ms)
2026-07-02 09:45:49,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.981951] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:49,315 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.982920] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:49,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.987863] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:49,321 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.81 deg, practicalMoveTime: 0.820994405654119 sec
2026-07-02 09:45:49,322 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.1 ms
2026-07-02 09:45:49,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.990939] moveTile loop end practicalMoveTime=0.821 (+3.1 ms)
2026-07-02 09:45:49,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [182.991517] moveTile loop start (+0.6 ms)
2026-07-02 09:45:49,329 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f96c805d0>
2026-07-02 09:45:49,335 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:45:49,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.010661] moveTile calculated motor speeds left=89 right=100 gyroSteer=-10.240000000000009 wallSteer=0.0 (+19.1 ms)
2026-07-02 09:45:49,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.031165] moveTile applied motor speed left=89 right=100 (+20.5 ms)
2026-07-02 09:45:49,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.034967] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:49,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.036115] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:45:49,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.041922] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:45:49,375 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.07326825841417875 CM
2026-07-02 09:45:49,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.064725] moveTile finished by time control (+22.8 ms)
2026-07-02 09:45:49,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.065451] moveTile start final forward adjustment (+23.5 ms)
2026-07-02 09:45:49,434 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:45:49,476 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:17.6
2026-07-02 09:45:49,573 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:15.4
2026-07-02 09:45:49,673 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:11.4
2026-07-02 09:45:49,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.365365] moveTile finished final forward adjustment (+299.9 ms)
2026-07-02 09:45:49,698 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.07326825841417875 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:49,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.367162] moveTile updated moved vertical distance 0.073 (+1.8 ms)
2026-07-02 09:45:49,848 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 107.98355870512279 cm
2026-07-02 09:45:49,850 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 12.741179216904074 cm
2026-07-02 09:45:49,852 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:45:49,853 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 12.741179216904074 cm, TSD10 distance: 2.9 cm
2026-07-02 09:45:49,854 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 106.5528426855638 cm
2026-07-02 09:45:49,855 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 110.6688959080074 cm
2026-07-02 09:45:49,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.523191] moveTile updated map and detected walls (+156.0 ms)
2026-07-02 09:45:49,860 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:49,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.528941] moveTile finished (+161.8 ms)
2026-07-02 09:45:49,899 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:45:49,930 - __main__ - [main.py:110] - INFO - Current position: (23, 20, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | U   U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   @ | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:49,935 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (23, 19, 0)
2026-07-02 09:45:49,937 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:45:49,938 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [183.606295] moveTile start direction=absDirection.NORTH position=(23, 20, 0) front=absDirection.EAST
2026-07-02 09:45:49,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.611270] moveTile after initial toggle check (+5.0 ms)
2026-07-02 09:45:49,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.613341] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.1 ms)
2026-07-02 09:45:49,946 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (23, 20, 0) facing absDirection.EAST
2026-07-02 09:45:49,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [183.614464] moveTile start heading change target=0 (+1.1 ms)
2026-07-02 09:45:49,975 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 267.47 target: 0
2026-07-02 09:45:50,788 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 354.0, diff: 6.0
2026-07-02 09:45:50,845 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 358.78000000000003 deg
2026-07-02 09:45:50,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [184.514523] moveTile finished heading change (+900.1 ms)
2026-07-02 09:45:50,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [184.515205] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:45:50,848 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:45:51,219 - mazeUtils.moveTile - [moveTile.py:1674] - INFO - Detected victim info after turning at wall: {<Side.LEFT: 0>: <UnitVStatus.NOTHING: 0>, <Side.RIGHT: 1>: <UnitVStatus.U_VICTIM: 1>}
2026-07-02 09:45:56,382 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 2.1899999999999977 target: 2.1899999999999977
2026-07-02 09:45:56,406 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 2.1899999999999977, diff: 0.0
2026-07-02 09:45:56,451 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 2.180000000000007 deg
2026-07-02 09:45:57,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [190.789492] moveTile updated front direction (+6274.3 ms)
2026-07-02 09:45:57,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [190.809224] moveTile stopped motors before alignment (+19.7 ms)
2026-07-02 09:45:57,302 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 104.85609353029155 cm
2026-07-02 09:45:57,303 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 17.297364363382314 cm
2026-07-02 09:45:57,304 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 109.33335800083846 cm
2026-07-02 09:45:57,305 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 104.55651686016711 cm
2026-07-02 09:45:57,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [190.973395] moveTile ready for forward move (+164.2 ms)
2026-07-02 09:45:57,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.002717] moveTile initialized movement targetSteps=1 (+29.3 ms)
2026-07-02 09:45:57,336 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.003851] moveTile loop start (+1.1 ms)
2026-07-02 09:45:57,343 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:45:57,349 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.020760] moveTile calculated motor speeds left=100 right=83 gyroSteer=19.6400000000001 wallSteer=-2.8000000000000007 (+16.9 ms)
2026-07-02 09:45:57,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.041001] moveTile applied motor speed left=100 right=83 (+20.2 ms)
2026-07-02 09:45:57,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.044620] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:57,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.045401] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:57,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.051904] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:45:57,385 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.55 deg, practicalMoveTime: 0.049768718695102465 sec
2026-07-02 09:45:57,385 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.0 ms
2026-07-02 09:45:57,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.053176] moveTile loop end practicalMoveTime=0.050 (+1.3 ms)
2026-07-02 09:45:57,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.053383] moveTile loop start (+0.2 ms)
2026-07-02 09:45:57,390 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189410>
2026-07-02 09:45:57,394 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.068538] moveTile calculated motor speeds left=100 right=82 gyroSteer=18.200000000000045 wallSteer=-0.8000000000000007 (+15.2 ms)
2026-07-02 09:45:57,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.095685] moveTile applied motor speed left=100 right=82 (+27.1 ms)
2026-07-02 09:45:57,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.101273] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:45:57,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.101742] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:57,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.106887] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:45:57,440 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.10447381613630358 sec
2026-07-02 09:45:57,440 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:45:57,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.108379] moveTile loop end practicalMoveTime=0.104 (+1.5 ms)
2026-07-02 09:45:57,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.108618] moveTile loop start (+0.2 ms)
2026-07-02 09:45:57,447 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a10>
2026-07-02 09:45:57,451 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.123033] moveTile calculated motor speeds left=100 right=78 gyroSteer=21.160000000000082 wallSteer=0.0 (+14.4 ms)
2026-07-02 09:45:57,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.146585] moveTile applied motor speed left=100 right=78 (+23.6 ms)
2026-07-02 09:45:57,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.150553] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:57,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.151187] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:57,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.155579] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:57,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.94 deg, practicalMoveTime: 0.15296121440056423 sec
2026-07-02 09:45:57,489 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.5 ms
2026-07-02 09:45:57,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.157628] moveTile loop end practicalMoveTime=0.153 (+2.0 ms)
2026-07-02 09:45:57,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.157996] moveTile loop start (+0.4 ms)
2026-07-02 09:45:57,500 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c188ed0>
2026-07-02 09:45:57,506 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,511 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.178606] moveTile calculated motor speeds left=100 right=81 gyroSteer=18.480000000000018 wallSteer=-0.3999999999999986 (+20.6 ms)
2026-07-02 09:45:57,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.197850] moveTile applied motor speed left=100 right=81 (+19.2 ms)
2026-07-02 09:45:57,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.202560] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:45:57,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.203234] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:57,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.209451] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:45:57,543 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.72 deg, practicalMoveTime: 0.2063579401250133 sec
2026-07-02 09:45:57,544 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:45:57,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.212936] moveTile loop end practicalMoveTime=0.206 (+3.5 ms)
2026-07-02 09:45:57,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.213504] moveTile loop start (+0.6 ms)
2026-07-02 09:45:57,552 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1891d0>
2026-07-02 09:45:57,559 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.234939] moveTile calculated motor speeds left=100 right=94 gyroSteer=6.279999999999973 wallSteer=-0.3999999999999986 (+21.4 ms)
2026-07-02 09:45:57,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.254758] moveTile applied motor speed left=100 right=94 (+19.8 ms)
2026-07-02 09:45:57,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.259183] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:45:57,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.260527] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:45:57,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.267418] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:45:57,601 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.66 deg, practicalMoveTime: 0.26323479017226187 sec
2026-07-02 09:45:57,601 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.6 ms
2026-07-02 09:45:57,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.270372] moveTile loop end practicalMoveTime=0.263 (+3.0 ms)
2026-07-02 09:45:57,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.271019] moveTile loop start (+0.6 ms)
2026-07-02 09:45:57,616 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b10>
2026-07-02 09:45:57,622 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.297665] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.6800000000000637 wallSteer=0.0 (+26.6 ms)
2026-07-02 09:45:57,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.318100] moveTile applied motor speed left=100 right=96 (+20.4 ms)
2026-07-02 09:45:57,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.322341] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:45:57,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.323679] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:45:57,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.328459] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:45:57,662 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.43 deg, practicalMoveTime: 0.3234024631283501 sec
2026-07-02 09:45:57,662 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:45:57,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.330534] moveTile loop end practicalMoveTime=0.323 (+2.1 ms)
2026-07-02 09:45:57,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.330906] moveTile loop start (+0.4 ms)
2026-07-02 09:45:57,669 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1891d0>
2026-07-02 09:45:57,676 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:57,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.350212] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.0 wallSteer=-2.3999999999999986 (+19.3 ms)
2026-07-02 09:45:57,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.369667] moveTile applied motor speed left=100 right=97 (+19.5 ms)
2026-07-02 09:45:57,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.374289] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:45:57,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.375088] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:57,713 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.381047] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:45:57,715 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.54 deg, practicalMoveTime: 0.37571005196020474 sec
2026-07-02 09:45:57,715 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:45:57,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.383752] moveTile loop end practicalMoveTime=0.376 (+2.7 ms)
2026-07-02 09:45:57,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.384292] moveTile loop start (+0.5 ms)
2026-07-02 09:45:57,722 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:45:57,729 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:45:57,738 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.406185] moveTile calculated motor speeds left=100 right=95 gyroSteer=5.360000000000127 wallSteer=-0.8000000000000007 (+21.9 ms)
2026-07-02 09:45:57,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.428259] moveTile applied motor speed left=100 right=95 (+22.1 ms)
2026-07-02 09:45:57,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.431972] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:57,765 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.432591] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:57,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.437022] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:45:57,771 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.09000000000003 deg, practicalMoveTime: 0.43118901765929735 sec
2026-07-02 09:45:57,772 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:45:57,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.440677] moveTile loop end practicalMoveTime=0.431 (+3.7 ms)
2026-07-02 09:45:57,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.441116] moveTile loop start (+0.4 ms)
2026-07-02 09:45:57,781 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a90>
2026-07-02 09:45:57,787 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:57,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.461151] moveTile calculated motor speeds left=100 right=87 gyroSteer=6.880000000000109 wallSteer=5.200000000000003 (+20.0 ms)
2026-07-02 09:45:57,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.484589] moveTile applied motor speed left=100 right=87 (+23.4 ms)
2026-07-02 09:45:57,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.489870] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:57,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.490531] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:57,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.496900] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:45:57,830 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.4894779499527808 sec
2026-07-02 09:45:57,831 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.3 ms
2026-07-02 09:45:57,831 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.498913] moveTile loop end practicalMoveTime=0.489 (+2.0 ms)
2026-07-02 09:45:57,831 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.499273] moveTile loop start (+0.4 ms)
2026-07-02 09:45:57,836 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189510>
2026-07-02 09:45:57,842 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:57,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.516398] moveTile calculated motor speeds left=100 right=91 gyroSteer=3.400000000000091 wallSteer=4.800000000000001 (+17.1 ms)
2026-07-02 09:45:57,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.535329] moveTile applied motor speed left=100 right=91 (+18.9 ms)
2026-07-02 09:45:57,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.539316] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:57,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.540286] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:57,883 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.551003] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:45:57,885 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.35 deg, practicalMoveTime: 0.5433413468848809 sec
2026-07-02 09:45:57,885 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:45:57,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.553440] moveTile loop end practicalMoveTime=0.543 (+2.4 ms)
2026-07-02 09:45:57,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.553805] moveTile loop start (+0.4 ms)
2026-07-02 09:45:57,896 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189590>
2026-07-02 09:45:57,902 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:57,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.577367] moveTile calculated motor speeds left=100 right=91 gyroSteer=3.6000000000001364 wallSteer=4.400000000000002 (+23.6 ms)
2026-07-02 09:45:57,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.598233] moveTile applied motor speed left=100 right=91 (+20.9 ms)
2026-07-02 09:45:57,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.601951] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:57,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.602564] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:57,946 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.613930] moveTile ramp check isBigRamp=False (+11.4 ms)
2026-07-02 09:45:57,947 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2300000000000182 deg, practicalMoveTime: 0.6054336276627913 sec
2026-07-02 09:45:57,949 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.6 ms
2026-07-02 09:45:57,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.617843] moveTile loop end practicalMoveTime=0.605 (+3.9 ms)
2026-07-02 09:45:57,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.618288] moveTile loop start (+0.4 ms)
2026-07-02 09:45:57,957 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:45:57,963 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:45:57,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.637206] moveTile calculated motor speeds left=100 right=94 gyroSteer=1.3600000000001273 wallSteer=4.0 (+18.9 ms)
2026-07-02 09:45:57,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.657477] moveTile applied motor speed left=100 right=94 (+20.3 ms)
2026-07-02 09:45:57,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.661128] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:57,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.661708] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:58,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.668720] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:45:58,002 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.84000000000003 deg, practicalMoveTime: 0.6585850279327629 sec
2026-07-02 09:45:58,002 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:45:58,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.670716] moveTile loop end practicalMoveTime=0.659 (+2.0 ms)
2026-07-02 09:45:58,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.671163] moveTile loop start (+0.4 ms)
2026-07-02 09:45:58,009 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189410>
2026-07-02 09:45:58,014 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:58,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.687706] moveTile calculated motor speeds left=100 right=97 gyroSteer=-1.7200000000000273 wallSteer=4.399999999999999 (+16.5 ms)
2026-07-02 09:45:58,039 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.707303] moveTile applied motor speed left=100 right=97 (+19.6 ms)
2026-07-02 09:45:58,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.712615] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:45:58,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.713229] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:58,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.718087] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:58,052 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8100000000000023 deg, practicalMoveTime: 0.7077456022094324 sec
2026-07-02 09:45:58,053 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.2 ms
2026-07-02 09:45:58,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.721053] moveTile loop end practicalMoveTime=0.708 (+3.0 ms)
2026-07-02 09:45:58,054 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.721429] moveTile loop start (+0.4 ms)
2026-07-02 09:45:58,060 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189410>
2026-07-02 09:45:58,067 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:58,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.740099] moveTile calculated motor speeds left=98 right=100 gyroSteer=-4.240000000000009 wallSteer=2.8000000000000007 (+18.7 ms)
2026-07-02 09:45:58,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.763091] moveTile applied motor speed left=98 right=100 (+23.0 ms)
2026-07-02 09:45:58,101 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.769033] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:45:58,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.769835] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:58,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.775029] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:45:58,108 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.05000000000001137 deg, practicalMoveTime: 0.7632601551219542 sec
2026-07-02 09:45:58,109 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:45:58,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.777295] moveTile loop end practicalMoveTime=0.763 (+2.3 ms)
2026-07-02 09:45:58,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.777690] moveTile loop start (+0.4 ms)
2026-07-02 09:45:58,116 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a90>
2026-07-02 09:45:58,122 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:58,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.796148] moveTile calculated motor speeds left=99 right=100 gyroSteer=-3.240000000000009 wallSteer=2.400000000000002 (+18.5 ms)
2026-07-02 09:45:58,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.816597] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:45:58,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.824230] moveTile tile color check tempTileColor=E (+7.6 ms)
2026-07-02 09:45:58,157 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.824967] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:58,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.830571] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:58,164 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.92 deg, practicalMoveTime: 0.8180608505285955 sec
2026-07-02 09:45:58,165 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:45:58,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.833555] moveTile loop end practicalMoveTime=0.818 (+3.0 ms)
2026-07-02 09:45:58,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.834021] moveTile loop start (+0.5 ms)
2026-07-02 09:45:58,173 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189290>
2026-07-02 09:45:58,179 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:58,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.852914] moveTile calculated motor speeds left=98 right=100 gyroSteer=-3.0 wallSteer=1.5999999999999979 (+18.9 ms)
2026-07-02 09:45:58,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.873819] moveTile applied motor speed left=98 right=100 (+20.9 ms)
2026-07-02 09:45:58,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.877740] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:45:58,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.878362] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:58,216 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.883902] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:58,217 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.11861735533449264 CM
2026-07-02 09:45:58,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.909347] moveTile finished by time control (+25.4 ms)
2026-07-02 09:45:58,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.910052] moveTile start final forward adjustment (+26.1 ms)
2026-07-02 09:45:58,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.940853] moveTile finished final forward adjustment (+30.8 ms)
2026-07-02 09:45:58,274 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.11861735533449264 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:58,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [191.942458] moveTile updated moved vertical distance -0.119 (+1.6 ms)
2026-07-02 09:45:58,422 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 77.24090936184248 cm
2026-07-02 09:45:58,424 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:45:58,426 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 16.30000114440918 cm
2026-07-02 09:45:58,428 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 138.2157544266397 cm
2026-07-02 09:45:58,430 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.29751857528406 cm
2026-07-02 09:45:58,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.098313] moveTile updated map and detected walls (+155.9 ms)
2026-07-02 09:45:58,434 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:58,436 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.103656] moveTile finished (+161.2 ms)
2026-07-02 09:45:58,476 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:45:58,506 - __main__ - [main.py:110] - INFO - Current position: (23, 19, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U   U   U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | @ | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:45:58,512 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (23, 18, 0)
2026-07-02 09:45:58,514 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:45:58,516 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [192.183685] moveTile start direction=absDirection.NORTH position=(23, 19, 0) front=absDirection.NORTH
2026-07-02 09:45:58,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.188293] moveTile after initial toggle check (+4.6 ms)
2026-07-02 09:45:58,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.192899] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+4.6 ms)
2026-07-02 09:45:58,526 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (23, 19, 0) facing absDirection.NORTH
2026-07-02 09:45:58,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.193974] moveTile start heading change target=0 (+1.1 ms)
2026-07-02 09:45:58,550 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 358.73 target: 0
2026-07-02 09:45:58,575 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 358.73, diff: 1.2699999999999818
2026-07-02 09:45:58,623 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 358.78000000000003 deg
2026-07-02 09:45:58,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.292131] moveTile finished heading change (+98.2 ms)
2026-07-02 09:45:58,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.292810] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:45:58,626 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.293489] moveTile updated front direction (+0.7 ms)
2026-07-02 09:45:58,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.315550] moveTile stopped motors before alignment (+22.1 ms)
2026-07-02 09:45:58,806 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 75.36062340159461 cm
2026-07-02 09:45:58,808 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 16.497486970080455 cm
2026-07-02 09:45:58,810 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 138.2623834546594 cm
2026-07-02 09:45:58,811 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.090192696244788 cm
2026-07-02 09:45:58,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.479108] moveTile ready for forward move (+163.6 ms)
2026-07-02 09:45:58,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.510864] moveTile initialized movement targetSteps=1 (+31.8 ms)
2026-07-02 09:45:58,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.512359] moveTile loop start (+1.5 ms)
2026-07-02 09:45:58,853 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1895d0>
2026-07-02 09:45:58,859 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:58,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.532851] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.0399999999999636 wallSteer=1.2000000000000028 (+20.5 ms)
2026-07-02 09:45:58,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.552221] moveTile applied motor speed left=100 right=97 (+19.4 ms)
2026-07-02 09:45:58,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.557223] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:45:58,890 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.557762] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:58,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.569560] moveTile ramp check isBigRamp=False (+11.8 ms)
2026-07-02 09:45:58,903 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.55 deg, practicalMoveTime: 0.06028323206594363 sec
2026-07-02 09:45:58,905 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.6 ms
2026-07-02 09:45:58,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.573815] moveTile loop end practicalMoveTime=0.060 (+4.3 ms)
2026-07-02 09:45:58,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.574271] moveTile loop start (+0.5 ms)
2026-07-02 09:45:58,913 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b50>
2026-07-02 09:45:58,919 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:58,925 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.593231] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.240000000000009 wallSteer=1.2000000000000028 (+19.0 ms)
2026-07-02 09:45:58,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.613356] moveTile applied motor speed left=100 right=97 (+20.1 ms)
2026-07-02 09:45:58,949 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.617357] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:45:58,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.618386] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:58,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.623889] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:45:58,957 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.11202066551362352 sec
2026-07-02 09:45:58,958 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:45:58,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.625866] moveTile loop end practicalMoveTime=0.112 (+2.0 ms)
2026-07-02 09:45:58,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.626225] moveTile loop start (+0.4 ms)
2026-07-02 09:45:58,968 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:45:58,975 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:58,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.656168] moveTile calculated motor speeds left=100 right=93 gyroSteer=5.240000000000009 wallSteer=1.6000000000000014 (+29.9 ms)
2026-07-02 09:45:59,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.682108] moveTile applied motor speed left=100 right=93 (+25.9 ms)
2026-07-02 09:45:59,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.685839] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:59,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.686821] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:59,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.692436] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:45:59,026 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1400000000000432 deg, practicalMoveTime: 0.1799180210347705 sec
2026-07-02 09:45:59,026 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 67.6 ms
2026-07-02 09:45:59,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.694399] moveTile loop end practicalMoveTime=0.180 (+2.0 ms)
2026-07-02 09:45:59,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.694770] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,035 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189bd0>
2026-07-02 09:45:59,041 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:45:59,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.717202] moveTile calculated motor speeds left=100 right=93 gyroSteer=4.160000000000082 wallSteer=2.3999999999999986 (+22.4 ms)
2026-07-02 09:45:59,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.739841] moveTile applied motor speed left=100 right=93 (+22.6 ms)
2026-07-02 09:45:59,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.743547] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:59,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.744066] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:59,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.748398] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:59,082 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.19 deg, practicalMoveTime: 0.23566591916476265 sec
2026-07-02 09:45:59,082 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:45:59,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.750794] moveTile loop end practicalMoveTime=0.236 (+2.4 ms)
2026-07-02 09:45:59,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.751156] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,091 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a50>
2026-07-02 09:45:59,097 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.770251] moveTile calculated motor speeds left=100 right=89 gyroSteer=7.2000000000000455 wallSteer=2.799999999999997 (+19.1 ms)
2026-07-02 09:45:59,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.789780] moveTile applied motor speed left=100 right=89 (+19.5 ms)
2026-07-02 09:45:59,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.793903] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:45:59,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.794694] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:45:59,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.800387] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:45:59,134 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.34000000000003 deg, practicalMoveTime: 0.28662141014287773 sec
2026-07-02 09:45:59,135 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:45:59,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.803272] moveTile loop end practicalMoveTime=0.287 (+2.9 ms)
2026-07-02 09:45:59,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.803893] moveTile loop start (+0.6 ms)
2026-07-02 09:45:59,142 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189750>
2026-07-02 09:45:59,148 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.821912] moveTile calculated motor speeds left=100 right=92 gyroSteer=5.839999999999918 wallSteer=1.6000000000000014 (+18.0 ms)
2026-07-02 09:45:59,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.842943] moveTile applied motor speed left=100 right=92 (+21.0 ms)
2026-07-02 09:45:59,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.851754] moveTile tile color check tempTileColor=E (+8.8 ms)
2026-07-02 09:45:59,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.852500] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:59,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.857729] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:45:59,191 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37000000000000455 deg, practicalMoveTime: 0.3426726877592398 sec
2026-07-02 09:45:59,191 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:45:59,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.859696] moveTile loop end practicalMoveTime=0.343 (+2.0 ms)
2026-07-02 09:45:59,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.860205] moveTile loop start (+0.5 ms)
2026-07-02 09:45:59,204 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189310>
2026-07-02 09:45:59,210 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:59,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.884690] moveTile calculated motor speeds left=100 right=96 gyroSteer=2.1200000000001182 wallSteer=1.6000000000000014 (+24.5 ms)
2026-07-02 09:45:59,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.912308] moveTile applied motor speed left=100 right=96 (+27.6 ms)
2026-07-02 09:45:59,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.917674] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:45:59,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.918257] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:59,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.925097] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:59,258 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.89000000000004 deg, practicalMoveTime: 0.4094636222543438 sec
2026-07-02 09:45:59,259 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 66.3 ms
2026-07-02 09:45:59,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.927102] moveTile loop end practicalMoveTime=0.409 (+2.0 ms)
2026-07-02 09:45:59,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.927462] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,264 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1892d0>
2026-07-02 09:45:59,270 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.943218] moveTile calculated motor speeds left=100 right=94 gyroSteer=4.039999999999964 wallSteer=1.1999999999999993 (+15.8 ms)
2026-07-02 09:45:59,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.963500] moveTile applied motor speed left=100 right=94 (+20.3 ms)
2026-07-02 09:45:59,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.967251] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:45:59,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.967864] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:59,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.973900] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:45:59,307 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.4576501364367565 sec
2026-07-02 09:45:59,308 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.8 ms
2026-07-02 09:45:59,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.975827] moveTile loop end practicalMoveTime=0.458 (+1.9 ms)
2026-07-02 09:45:59,309 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [192.976941] moveTile loop start (+1.1 ms)
2026-07-02 09:45:59,321 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b10>
2026-07-02 09:45:59,328 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:45:59,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.002483] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.7999999999999545 wallSteer=0.8000000000000007 (+25.5 ms)
2026-07-02 09:45:59,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.024478] moveTile applied motor speed left=100 right=97 (+22.0 ms)
2026-07-02 09:45:59,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.028225] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:59,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.028873] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:59,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.040338] moveTile ramp check isBigRamp=False (+11.5 ms)
2026-07-02 09:45:59,374 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.53000000000003 deg, practicalMoveTime: 0.5241397416015633 sec
2026-07-02 09:45:59,375 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.9 ms
2026-07-02 09:45:59,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.043477] moveTile loop end practicalMoveTime=0.524 (+3.1 ms)
2026-07-02 09:45:59,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.043995] moveTile loop start (+0.5 ms)
2026-07-02 09:45:59,383 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189310>
2026-07-02 09:45:59,389 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.062684] moveTile calculated motor speeds left=100 right=98 gyroSteer=0.2400000000000091 wallSteer=0.8000000000000007 (+18.7 ms)
2026-07-02 09:45:59,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.083605] moveTile applied motor speed left=100 right=98 (+20.9 ms)
2026-07-02 09:45:59,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.087320] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:45:59,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.087854] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:45:59,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.098383] moveTile ramp check isBigRamp=False (+10.5 ms)
2026-07-02 09:45:59,432 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7600000000000477 deg, practicalMoveTime: 0.5805443765208479 sec
2026-07-02 09:45:59,432 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:45:59,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.100603] moveTile loop end practicalMoveTime=0.581 (+2.2 ms)
2026-07-02 09:45:59,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.101027] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,444 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b50>
2026-07-02 09:45:59,450 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:45:59,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.123989] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.480000000000018 wallSteer=0.3999999999999986 (+23.0 ms)
2026-07-02 09:45:59,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.149422] moveTile applied motor speed left=94 right=100 (+25.4 ms)
2026-07-02 09:45:59,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.155230] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:45:59,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.155875] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:59,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.162663] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:45:59,496 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.020000000000038654 deg, practicalMoveTime: 0.644086500258893 sec
2026-07-02 09:45:59,496 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.1 ms
2026-07-02 09:45:59,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.164707] moveTile loop end practicalMoveTime=0.644 (+2.0 ms)
2026-07-02 09:45:59,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.165068] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,503 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189210>
2026-07-02 09:45:59,510 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.189966] moveTile calculated motor speeds left=93 right=100 gyroSteer=-5.639999999999873 wallSteer=-0.8000000000000007 (+24.9 ms)
2026-07-02 09:45:59,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.211968] moveTile applied motor speed left=93 right=100 (+22.0 ms)
2026-07-02 09:45:59,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.216256] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:59,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.217200] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:45:59,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.223477] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:45:59,557 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.47 deg, practicalMoveTime: 0.7042030802375844 sec
2026-07-02 09:45:59,557 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:45:59,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.225495] moveTile loop end practicalMoveTime=0.704 (+2.0 ms)
2026-07-02 09:45:59,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.225857] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,565 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189310>
2026-07-02 09:45:59,572 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.246106] moveTile calculated motor speeds left=93 right=100 gyroSteer=-5.319999999999936 wallSteer=-1.1999999999999993 (+20.2 ms)
2026-07-02 09:45:59,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.265658] moveTile applied motor speed left=93 right=100 (+19.6 ms)
2026-07-02 09:45:59,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.270130] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:45:59,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.271137] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:45:59,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.277262] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:45:59,610 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.7573109916317097 sec
2026-07-02 09:45:59,611 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.0 ms
2026-07-02 09:45:59,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.280577] moveTile loop end practicalMoveTime=0.757 (+3.3 ms)
2026-07-02 09:45:59,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.281316] moveTile loop start (+0.7 ms)
2026-07-02 09:45:59,622 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b90>
2026-07-02 09:45:59,628 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:45:59,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.301995] moveTile calculated motor speeds left=91 right=100 gyroSteer=-6.639999999999873 wallSteer=-1.6000000000000014 (+20.7 ms)
2026-07-02 09:45:59,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.321417] moveTile applied motor speed left=91 right=100 (+19.4 ms)
2026-07-02 09:45:59,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.325051] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:45:59,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.325684] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:45:59,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.330556] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:45:59,664 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.8102809984743289 sec
2026-07-02 09:45:59,665 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:45:59,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.333087] moveTile loop end practicalMoveTime=0.810 (+2.5 ms)
2026-07-02 09:45:59,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.333456] moveTile loop start (+0.4 ms)
2026-07-02 09:45:59,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189b10>
2026-07-02 09:45:59,679 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:45:59,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.358544] moveTile calculated motor speeds left=90 right=100 gyroSteer=-7.639999999999873 wallSteer=-1.6000000000000014 (+25.1 ms)
2026-07-02 09:45:59,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.385401] moveTile applied motor speed left=90 right=100 (+26.9 ms)
2026-07-02 09:45:59,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.389729] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:45:59,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.390385] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:45:59,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.394693] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:45:59,727 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.04345619930746764 CM
2026-07-02 09:45:59,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.418400] moveTile finished by time control (+23.7 ms)
2026-07-02 09:45:59,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.419131] moveTile start final forward adjustment (+24.4 ms)
2026-07-02 09:45:59,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.450990] moveTile finished final forward adjustment (+31.9 ms)
2026-07-02 09:45:59,784 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.04345619930746764 cm, past distances: [(-0.11861735533449264, False), (0, False), (0, False), (0, False)]
2026-07-02 09:45:59,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.452599] moveTile updated moved vertical distance -0.043 (+1.6 ms)
2026-07-02 09:45:59,941 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 44.33599321583947 cm
2026-07-02 09:45:59,943 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:45:59,944 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.54063767024935 cm
2026-07-02 09:45:59,945 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 169.26770614090026 cm
2026-07-02 09:45:59,946 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.597470213949588 cm
2026-07-02 09:45:59,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.615224] moveTile updated map and detected walls (+162.6 ms)
2026-07-02 09:45:59,949 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:45:59,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.617902] moveTile finished (+165.3 ms)
2026-07-02 09:45:59,989 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, None)
2026-07-02 09:46:00,009 - __main__ - [main.py:110] - INFO - Current position: (23, 18, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=18..24
+   +   +   +   +   +   +   +
  B   U   U | @ | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:00,015 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.NORTH. Prioritizing this tile.
2026-07-02 09:46:00,017 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:00,018 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [193.685661] moveTile start direction=absDirection.NORTH position=(23, 18, 0) front=absDirection.NORTH
2026-07-02 09:46:00,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.696650] moveTile after initial toggle check (+11.0 ms)
2026-07-02 09:46:00,033 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.700636] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+4.0 ms)
2026-07-02 09:46:00,033 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (23, 18, 0) facing absDirection.NORTH
2026-07-02 09:46:00,033 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.701255] moveTile start heading change target=0 (+0.6 ms)
2026-07-02 09:46:00,058 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 1.5300000000000296 target: 0
2026-07-02 09:46:00,080 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 1.5300000000000296, diff: 1.5300000000000296
2026-07-02 09:46:00,122 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 1.650000000000034 deg
2026-07-02 09:46:00,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.790626] moveTile finished heading change (+89.4 ms)
2026-07-02 09:46:00,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.790893] Adjustment after ramp completed (+0.3 ms)
2026-07-02 09:46:00,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.791136] moveTile updated front direction (+0.2 ms)
2026-07-02 09:46:00,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.813148] moveTile stopped motors before alignment (+22.0 ms)
2026-07-02 09:46:00,293 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 44.730631500769654 cm
2026-07-02 09:46:00,295 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.497639274924065 cm
2026-07-02 09:46:00,296 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 169.39674517973674 cm
2026-07-02 09:46:00,297 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.897425666731387 cm
2026-07-02 09:46:00,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.965048] moveTile ready for forward move (+151.9 ms)
2026-07-02 09:46:00,328 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.996042] moveTile initialized movement targetSteps=1 (+31.0 ms)
2026-07-02 09:46:00,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [193.997702] moveTile loop start (+1.7 ms)
2026-07-02 09:46:00,337 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189510>
2026-07-02 09:46:00,342 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.9, S=254.8, V=176.1
2026-07-02 09:46:00,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.014591] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.8800000000001091 wallSteer=-2.0 (+16.9 ms)
2026-07-02 09:46:00,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.035869] moveTile applied motor speed left=99 right=100 (+21.3 ms)
2026-07-02 09:46:00,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.040115] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:46:00,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.040666] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:00,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.045707] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:00,378 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.05014377201525351 sec
2026-07-02 09:46:00,379 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.9 ms
2026-07-02 09:46:00,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.046962] moveTile loop end practicalMoveTime=0.050 (+1.3 ms)
2026-07-02 09:46:00,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.047205] moveTile loop start (+0.2 ms)
2026-07-02 09:46:00,385 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:46:00,389 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.8, S=254.9, V=179.0
2026-07-02 09:46:00,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.064695] moveTile calculated motor speeds left=100 right=99 gyroSteer=4.0 wallSteer=-3.1999999999999993 (+17.5 ms)
2026-07-02 09:46:00,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.084487] moveTile applied motor speed left=100 right=99 (+19.8 ms)
2026-07-02 09:46:00,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.087840] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:46:00,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.088634] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:00,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.094919] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:46:00,428 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.44 deg, practicalMoveTime: 0.09904347103602229 sec
2026-07-02 09:46:00,428 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.7 ms
2026-07-02 09:46:00,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.096309] moveTile loop end practicalMoveTime=0.099 (+1.4 ms)
2026-07-02 09:46:00,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.096533] moveTile loop start (+0.2 ms)
2026-07-02 09:46:00,435 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cdcedd0>
2026-07-02 09:46:00,440 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=106.4, S=254.9, V=206.9
2026-07-02 09:46:00,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.113819] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.44000000000005457 wallSteer=-3.1999999999999993 (+17.3 ms)
2026-07-02 09:46:00,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.133556] moveTile applied motor speed left=96 right=100 (+19.7 ms)
2026-07-02 09:46:00,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.138150] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:00,471 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.138729] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:00,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.143012] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:00,476 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.01000000000005 deg, practicalMoveTime: 0.14687930875174515 sec
2026-07-02 09:46:00,477 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.1 ms
2026-07-02 09:46:00,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.145217] moveTile loop end practicalMoveTime=0.147 (+2.2 ms)
2026-07-02 09:46:00,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.145659] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,484 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2650>
2026-07-02 09:46:00,490 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=105.0, S=255.0, V=227.3
2026-07-02 09:46:00,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.161551] moveTile calculated motor speeds left=94 right=100 gyroSteer=-2.759999999999991 wallSteer=-3.1999999999999993 (+15.9 ms)
2026-07-02 09:46:00,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.182454] moveTile applied motor speed left=94 right=100 (+20.9 ms)
2026-07-02 09:46:00,519 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.187247] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:46:00,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.188178] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:00,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.196283] moveTile ramp check isBigRamp=False (+8.1 ms)
2026-07-02 09:46:00,530 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.10000000000002274 deg, practicalMoveTime: 0.1995840395739391 sec
2026-07-02 09:46:00,531 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:46:00,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.199428] moveTile loop end practicalMoveTime=0.200 (+3.1 ms)
2026-07-02 09:46:00,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.199848] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,538 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:46:00,545 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=105.0, S=255.0, V=232.0
2026-07-02 09:46:00,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.222581] moveTile calculated motor speeds left=96 right=100 gyroSteer=0.9200000000000728 wallSteer=-4.0 (+22.7 ms)
2026-07-02 09:46:00,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.245300] moveTile applied motor speed left=96 right=100 (+22.7 ms)
2026-07-02 09:46:00,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.249007] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:00,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.249631] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:00,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.256833] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:46:00,590 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.25845407628990547 sec
2026-07-02 09:46:00,591 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:46:00,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.259692] moveTile loop end practicalMoveTime=0.258 (+2.9 ms)
2026-07-02 09:46:00,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.260183] moveTile loop start (+0.5 ms)
2026-07-02 09:46:00,598 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6cdcedd0>
2026-07-02 09:46:00,604 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=105.0, S=255.0, V=232.0
2026-07-02 09:46:00,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.278044] moveTile calculated motor speeds left=94 right=100 gyroSteer=-1.0 wallSteer=-4.800000000000001 (+17.9 ms)
2026-07-02 09:46:00,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.302011] moveTile applied motor speed left=94 right=100 (+24.0 ms)
2026-07-02 09:46:00,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.305678] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:00,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.306981] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:46:00,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.311537] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:00,645 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6299999999999955 deg, practicalMoveTime: 0.31249743999164503 sec
2026-07-02 09:46:00,645 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.9 ms
2026-07-02 09:46:00,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.313575] moveTile loop end practicalMoveTime=0.312 (+2.0 ms)
2026-07-02 09:46:00,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.313935] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,657 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:46:00,662 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=104.8, S=255.0, V=234.4
2026-07-02 09:46:00,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.336187] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.240000000000009 wallSteer=-4.800000000000001 (+22.3 ms)
2026-07-02 09:46:00,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.355269] moveTile applied motor speed left=97 right=100 (+19.1 ms)
2026-07-02 09:46:00,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.358989] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:46:00,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.359493] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:00,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.365335] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:46:00,699 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18000000000000682 deg, practicalMoveTime: 0.3657501126087042 sec
2026-07-02 09:46:00,700 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:46:00,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.368424] moveTile loop end practicalMoveTime=0.366 (+3.1 ms)
2026-07-02 09:46:00,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.368846] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,711 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a90>
2026-07-02 09:46:00,718 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=104.7, S=255.0, V=235.5
2026-07-02 09:46:00,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.392609] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.9200000000000728 wallSteer=-5.200000000000003 (+23.8 ms)
2026-07-02 09:46:00,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.413493] moveTile applied motor speed left=96 right=100 (+20.9 ms)
2026-07-02 09:46:00,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.417386] moveTile tile color check tempTileColor=V (+3.9 ms)
2026-07-02 09:46:00,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.418154] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:00,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.423428] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:46:00,757 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.2100000000000364 deg, practicalMoveTime: 0.4225196655958281 sec
2026-07-02 09:46:00,758 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:46:00,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.425992] moveTile loop end practicalMoveTime=0.423 (+2.6 ms)
2026-07-02 09:46:00,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.426372] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,765 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:46:00,770 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=104.0, S=255.0, V=243.3
2026-07-02 09:46:00,780 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.448139] moveTile calculated motor speeds left=96 right=100 gyroSteer=1.759999999999991 wallSteer=-4.800000000000001 (+21.8 ms)
2026-07-02 09:46:00,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.467709] moveTile applied motor speed left=96 right=100 (+19.6 ms)
2026-07-02 09:46:00,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.474023] moveTile tile color check tempTileColor=V (+6.3 ms)
2026-07-02 09:46:00,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.474853] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:00,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.480263] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:00,813 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.59000000000003 deg, practicalMoveTime: 0.4784700667868508 sec
2026-07-02 09:46:00,814 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:46:00,815 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.482941] moveTile loop end practicalMoveTime=0.478 (+2.7 ms)
2026-07-02 09:46:00,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.483434] moveTile loop start (+0.5 ms)
2026-07-02 09:46:00,821 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:46:00,827 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=104.1, S=255.0, V=241.2
2026-07-02 09:46:00,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.499638] moveTile calculated motor speeds left=100 right=97 gyroSteer=6.960000000000036 wallSteer=-4.400000000000002 (+16.2 ms)
2026-07-02 09:46:00,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.519758] moveTile applied motor speed left=100 right=97 (+20.1 ms)
2026-07-02 09:46:00,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.525736] moveTile tile color check tempTileColor=V (+6.0 ms)
2026-07-02 09:46:00,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.526401] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:00,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.531203] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:00,864 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7400000000000091 deg, practicalMoveTime: 0.5288475252621064 sec
2026-07-02 09:46:00,866 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.0 ms
2026-07-02 09:46:00,866 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.534273] moveTile loop end practicalMoveTime=0.529 (+3.1 ms)
2026-07-02 09:46:00,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.534728] moveTile loop start (+0.5 ms)
2026-07-02 09:46:00,871 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:46:00,878 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=103.7, S=255.0, V=251.0
2026-07-02 09:46:00,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.553138] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.839999999999918 wallSteer=-5.199999999999999 (+18.4 ms)
2026-07-02 09:46:00,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.573780] moveTile applied motor speed left=97 right=100 (+20.6 ms)
2026-07-02 09:46:00,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.577931] moveTile tile color check tempTileColor=V (+4.2 ms)
2026-07-02 09:46:00,911 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.578489] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:00,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.585508] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:46:00,919 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.98 deg, practicalMoveTime: 0.581751651067323 sec
2026-07-02 09:46:00,919 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:46:00,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.587458] moveTile loop end practicalMoveTime=0.582 (+2.0 ms)
2026-07-02 09:46:00,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.587823] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,927 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2650>
2026-07-02 09:46:00,933 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.9, S=255.0, V=254.0
2026-07-02 09:46:00,939 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.607281] moveTile calculated motor speeds left=99 right=100 gyroSteer=4.880000000000109 wallSteer=-5.600000000000001 (+19.5 ms)
2026-07-02 09:46:00,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.630634] moveTile applied motor speed left=99 right=100 (+23.4 ms)
2026-07-02 09:46:00,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.634385] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:46:00,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.634997] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:00,972 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.640126] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:00,973 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.6357595340436937 sec
2026-07-02 09:46:00,974 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:46:00,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.642545] moveTile loop end practicalMoveTime=0.636 (+2.4 ms)
2026-07-02 09:46:00,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.642975] moveTile loop start (+0.4 ms)
2026-07-02 09:46:00,982 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2750>
2026-07-02 09:46:00,988 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.3, S=255.0, V=254.7
2026-07-02 09:46:00,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.663368] moveTile calculated motor speeds left=95 right=100 gyroSteer=1.240000000000009 wallSteer=-5.600000000000001 (+20.4 ms)
2026-07-02 09:46:01,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.682988] moveTile applied motor speed left=95 right=100 (+19.6 ms)
2026-07-02 09:46:01,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.686642] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:46:01,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.687232] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:01,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.695622] moveTile ramp check isBigRamp=False (+8.4 ms)
2026-07-02 09:46:01,029 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8300000000000409 deg, practicalMoveTime: 0.6907497773033692 sec
2026-07-02 09:46:01,029 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:46:01,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.697744] moveTile loop end practicalMoveTime=0.691 (+2.1 ms)
2026-07-02 09:46:01,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.698105] moveTile loop start (+0.4 ms)
2026-07-02 09:46:01,041 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189a90>
2026-07-02 09:46:01,047 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.6, S=255.0, V=254.7
2026-07-02 09:46:01,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.719893] moveTile calculated motor speeds left=95 right=100 gyroSteer=2.759999999999991 wallSteer=-7.199999999999999 (+21.8 ms)
2026-07-02 09:46:01,071 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.739035] moveTile applied motor speed left=95 right=100 (+19.1 ms)
2026-07-02 09:46:01,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.742864] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:46:01,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.743489] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:01,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.748990] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:01,082 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.08000000000004093 deg, practicalMoveTime: 0.7434810014606809 sec
2026-07-02 09:46:01,083 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:46:01,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.751335] moveTile loop end practicalMoveTime=0.743 (+2.3 ms)
2026-07-02 09:46:01,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.751737] moveTile loop start (+0.4 ms)
2026-07-02 09:46:01,089 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2650>
2026-07-02 09:46:01,095 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.8, S=255.0, V=254.7
2026-07-02 09:46:01,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.773113] moveTile calculated motor speeds left=94 right=100 gyroSteer=2.1200000000001182 wallSteer=-7.600000000000001 (+21.4 ms)
2026-07-02 09:46:01,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.795031] moveTile applied motor speed left=94 right=100 (+21.9 ms)
2026-07-02 09:46:01,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.799175] moveTile tile color check tempTileColor=V (+4.1 ms)
2026-07-02 09:46:01,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.799837] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:01,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.806286] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:46:01,139 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.25 deg, practicalMoveTime: 0.7997007691435872 sec
2026-07-02 09:46:01,140 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.8 ms
2026-07-02 09:46:01,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.808239] moveTile loop end practicalMoveTime=0.800 (+2.0 ms)
2026-07-02 09:46:01,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.808633] moveTile loop start (+0.4 ms)
2026-07-02 09:46:01,147 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f4a2650>
2026-07-02 09:46:01,153 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.3, S=255.0, V=254.7
2026-07-02 09:46:01,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.826327] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.039999999999964 wallSteer=-6.0 (+17.7 ms)
2026-07-02 09:46:01,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.845171] moveTile applied motor speed left=100 right=99 (+18.8 ms)
2026-07-02 09:46:01,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.850226] moveTile tile color check tempTileColor=V (+5.1 ms)
2026-07-02 09:46:01,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.851245] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:01,193 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.861257] moveTile ramp check isBigRamp=False (+10.0 ms)
2026-07-02 09:46:01,194 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.92 deg, practicalMoveTime: 0.854265086956499 sec
2026-07-02 09:46:01,195 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:46:01,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.863271] moveTile loop end practicalMoveTime=0.854 (+2.0 ms)
2026-07-02 09:46:01,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.863741] moveTile loop start (+0.5 ms)
2026-07-02 09:46:01,201 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6dcad790>
2026-07-02 09:46:01,207 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=103.7, S=255.0, V=253.6
2026-07-02 09:46:01,219 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.887377] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.240000000000009 wallSteer=-6.0 (+23.6 ms)
2026-07-02 09:46:01,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.907905] moveTile applied motor speed left=100 right=99 (+20.5 ms)
2026-07-02 09:46:01,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.911583] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:46:01,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.912096] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:01,249 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.916865] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:01,250 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.05553832408101805 CM
2026-07-02 09:46:01,272 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.939780] moveTile finished by time control (+22.9 ms)
2026-07-02 09:46:01,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [194.940577] moveTile start final forward adjustment (+23.7 ms)
2026-07-02 09:46:01,308 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:46:01,321 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.8
2026-07-02 09:46:01,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.012172] moveTile finished final forward adjustment (+71.6 ms)
2026-07-02 09:46:01,346 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.05553832408101805 cm, past distances: [(-0.04345619930746764, False), (-0.11861735533449264, False), (0, False), (0, False)]
2026-07-02 09:46:01,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.014110] moveTile updated moved vertical distance 0.056 (+1.9 ms)
2026-07-02 09:46:01,494 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 12.861684669318763 cm
2026-07-02 09:46:01,497 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:46:01,499 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 12.861684669318763 cm, TSD10 distance: 2.8 cm
2026-07-02 09:46:01,500 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 14.697760928093139 cm
2026-07-02 09:46:01,502 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 201.87694705785734 cm
2026-07-02 09:46:01,503 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 106.32464867736905 cm
2026-07-02 09:46:01,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.172361] moveTile updated map and detected walls (+158.3 ms)
2026-07-02 09:46:01,509 - mazeUtils.mazeMap - [mazeMap.py:445] - DEBUG - Silver tile detected, saving cache
2026-07-02 09:46:02,126 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: V
2026-07-02 09:46:02,131 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (23, 17, 0), Tile type: V, Wall types: {<absDirection.NORTH: 0>: <wallType.WALL: 2>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.NO_WALL: 1>}
2026-07-02 09:46:02,132 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.800075] moveTile finished (+786.0 ms)
2026-07-02 09:46:02,174 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, None)
2026-07-02 09:46:02,204 - __main__ - [main.py:110] - INFO - Current position: (23, 17, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+   +   +   +---+   +   +   +
  U   U   U   @ | U   U   U  
+   +   +   +   +   +   +   +
  B   U   U | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:02,214 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (22, 17, 0)
2026-07-02 09:46:02,216 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:02,217 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [195.885017] moveTile start direction=absDirection.WEST position=(23, 17, 0) front=absDirection.NORTH
2026-07-02 09:46:02,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.891740] moveTile after initial toggle check (+6.7 ms)
2026-07-02 09:46:02,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.894908] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+3.2 ms)
2026-07-02 09:46:02,228 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (23, 17, 0) facing absDirection.NORTH
2026-07-02 09:46:02,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [195.896333] moveTile start heading change target=90 (+1.4 ms)
2026-07-02 09:46:02,262 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 1.0300000000000296 target: 90
2026-07-02 09:46:03,191 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 85.55000000000001, diff: 4.449999999999989
2026-07-02 09:46:03,245 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.03000000000003 deg
2026-07-02 09:46:03,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [196.913917] moveTile finished heading change (+1017.6 ms)
2026-07-02 09:46:03,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [196.914361] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:46:03,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [196.914882] moveTile updated front direction (+0.5 ms)
2026-07-02 09:46:03,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [196.934284] moveTile stopped motors before alignment (+19.4 ms)
2026-07-02 09:46:03,428 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 14.046345623111732 cm
2026-07-02 09:46:03,430 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 19.028737672480265 cm
2026-07-02 09:46:03,431 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 200.6999969482422 cm
2026-07-02 09:46:03,433 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 101.54069158718063 cm
2026-07-02 09:46:03,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.102884] moveTile start position adjustment using LiDAR for back wall. (+168.6 ms)
2026-07-02 09:46:03,456 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:03,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.289937] moveTile finished backward adjustment (+187.1 ms)
2026-07-02 09:46:03,703 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.370457] moveTile ready for forward move (+80.5 ms)
2026-07-02 09:46:03,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.397560] moveTile initialized movement targetSteps=1 (+27.1 ms)
2026-07-02 09:46:03,731 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.399058] moveTile loop start (+1.5 ms)
2026-07-02 09:46:03,736 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:46:03,742 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:03,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.416401] moveTile calculated motor speeds left=100 right=94 gyroSteer=14.680000000000064 wallSteer=-9.2 (+17.3 ms)
2026-07-02 09:46:03,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.439339] moveTile applied motor speed left=100 right=94 (+22.9 ms)
2026-07-02 09:46:03,779 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.446508] moveTile tile color check tempTileColor=V (+7.2 ms)
2026-07-02 09:46:03,779 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.447204] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:03,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.451559] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:46:03,785 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4500000000000455 deg, practicalMoveTime: 0.054832913034963154 sec
2026-07-02 09:46:03,786 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:46:03,786 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.454259] moveTile loop end practicalMoveTime=0.055 (+2.7 ms)
2026-07-02 09:46:03,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.454673] moveTile loop start (+0.4 ms)
2026-07-02 09:46:03,793 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1897d0>
2026-07-02 09:46:03,799 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:03,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.473890] moveTile calculated motor speeds left=100 right=94 gyroSteer=15.039999999999964 wallSteer=-9.2 (+19.2 ms)
2026-07-02 09:46:03,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.492884] moveTile applied motor speed left=100 right=94 (+19.0 ms)
2026-07-02 09:46:03,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.496664] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:46:03,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.497292] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:03,835 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.503171] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:03,836 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.35 deg, practicalMoveTime: 0.10529095813078304 sec
2026-07-02 09:46:03,837 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.0 ms
2026-07-02 09:46:03,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.505292] moveTile loop end practicalMoveTime=0.105 (+2.1 ms)
2026-07-02 09:46:03,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.505663] moveTile loop start (+0.4 ms)
2026-07-02 09:46:03,842 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:03,848 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:46:03,857 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.525260] moveTile calculated motor speeds left=100 right=90 gyroSteer=17.200000000000045 wallSteer=-7.600000000000001 (+19.6 ms)
2026-07-02 09:46:03,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.551497] moveTile applied motor speed left=100 right=90 (+26.2 ms)
2026-07-02 09:46:03,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.556378] moveTile tile color check tempTileColor=V (+4.9 ms)
2026-07-02 09:46:03,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.557199] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:03,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.561914] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:46:03,895 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5200000000000387 deg, practicalMoveTime: 0.163233584770067 sec
2026-07-02 09:46:03,896 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:46:03,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.565572] moveTile loop end practicalMoveTime=0.163 (+3.7 ms)
2026-07-02 09:46:03,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.566651] moveTile loop start (+1.1 ms)
2026-07-02 09:46:03,906 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c159a90>
2026-07-02 09:46:03,912 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:03,925 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.593060] moveTile calculated motor speeds left=100 right=92 gyroSteer=14.720000000000027 wallSteer=-7.600000000000001 (+26.4 ms)
2026-07-02 09:46:03,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.614675] moveTile applied motor speed left=100 right=92 (+21.6 ms)
2026-07-02 09:46:03,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.618293] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:03,951 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.618853] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:03,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.623428] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:03,957 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.3 deg, practicalMoveTime: 0.22469426096329076 sec
2026-07-02 09:46:03,958 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:46:03,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.626187] moveTile loop end practicalMoveTime=0.225 (+2.8 ms)
2026-07-02 09:46:03,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.626603] moveTile loop start (+0.4 ms)
2026-07-02 09:46:03,963 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:03,969 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:46:03,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.641899] moveTile calculated motor speeds left=94 right=100 gyroSteer=11.319999999999936 wallSteer=-16.400000000000002 (+15.3 ms)
2026-07-02 09:46:03,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.662732] moveTile applied motor speed left=94 right=100 (+20.8 ms)
2026-07-02 09:46:03,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.666370] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:03,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.666973] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:04,005 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.672681] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:04,006 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.2728326917352206 sec
2026-07-02 09:46:04,007 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.1 ms
2026-07-02 09:46:04,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.675206] moveTile loop end practicalMoveTime=0.273 (+2.5 ms)
2026-07-02 09:46:04,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.675578] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,015 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:04,021 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:04,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.695126] moveTile calculated motor speeds left=100 right=96 gyroSteer=11.960000000000036 wallSteer=-8.0 (+19.5 ms)
2026-07-02 09:46:04,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.715710] moveTile applied motor speed left=100 right=96 (+20.6 ms)
2026-07-02 09:46:04,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.719604] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:04,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.720270] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:04,062 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.729723] moveTile ramp check isBigRamp=False (+9.5 ms)
2026-07-02 09:46:04,063 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.91 deg, practicalMoveTime: 0.32878588694211214 sec
2026-07-02 09:46:04,064 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.8 ms
2026-07-02 09:46:04,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.732334] moveTile loop end practicalMoveTime=0.329 (+2.6 ms)
2026-07-02 09:46:04,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.732729] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,069 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:04,076 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:04,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.749959] moveTile calculated motor speeds left=100 right=97 gyroSteer=10.519999999999982 wallSteer=-8.0 (+17.2 ms)
2026-07-02 09:46:04,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.775709] moveTile applied motor speed left=100 right=97 (+25.8 ms)
2026-07-02 09:46:04,113 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.780776] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:46:04,114 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.781485] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:04,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.785835] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:04,119 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.96000000000004 deg, practicalMoveTime: 0.38446447940689926 sec
2026-07-02 09:46:04,120 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:46:04,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.788779] moveTile loop end practicalMoveTime=0.384 (+2.9 ms)
2026-07-02 09:46:04,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.789185] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,127 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:04,133 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:46:04,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.808153] moveTile calculated motor speeds left=100 right=92 gyroSteer=12.680000000000064 wallSteer=-5.600000000000001 (+19.0 ms)
2026-07-02 09:46:04,160 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.827703] moveTile applied motor speed left=100 right=92 (+19.6 ms)
2026-07-02 09:46:04,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.831463] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:04,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.832251] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:04,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.838095] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:46:04,171 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.4352412398880144 sec
2026-07-02 09:46:04,172 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:46:04,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.840086] moveTile loop end practicalMoveTime=0.435 (+2.0 ms)
2026-07-02 09:46:04,173 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.840590] moveTile loop start (+0.5 ms)
2026-07-02 09:46:04,180 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:04,186 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:04,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.858360] moveTile calculated motor speeds left=100 right=97 gyroSteer=9.0 wallSteer=-6.0 (+17.8 ms)
2026-07-02 09:46:04,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.877932] moveTile applied motor speed left=100 right=97 (+19.6 ms)
2026-07-02 09:46:04,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.881683] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:04,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.882272] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:04,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.888643] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:46:04,222 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.79 deg, practicalMoveTime: 0.4855465921411726 sec
2026-07-02 09:46:04,223 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.9 ms
2026-07-02 09:46:04,223 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.891078] moveTile loop end practicalMoveTime=0.486 (+2.4 ms)
2026-07-02 09:46:04,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.891441] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,230 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:46:04,236 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:04,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.909429] moveTile calculated motor speeds left=100 right=96 gyroSteer=9.920000000000073 wallSteer=-6.399999999999999 (+18.0 ms)
2026-07-02 09:46:04,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.932444] moveTile applied motor speed left=100 right=96 (+23.0 ms)
2026-07-02 09:46:04,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.937155] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:46:04,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.937766] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:04,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.943405] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:46:04,277 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1000000000000227 deg, practicalMoveTime: 0.5394111563704892 sec
2026-07-02 09:46:04,277 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:46:04,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.945622] moveTile loop end practicalMoveTime=0.539 (+2.2 ms)
2026-07-02 09:46:04,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.945989] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,288 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:46:04,294 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:04,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.968913] moveTile calculated motor speeds left=97 right=100 gyroSteer=4.600000000000136 wallSteer=-6.799999999999997 (+22.9 ms)
2026-07-02 09:46:04,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.988721] moveTile applied motor speed left=97 right=100 (+19.8 ms)
2026-07-02 09:46:04,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.992727] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:04,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [197.993355] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:04,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.000058] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:46:04,333 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.5 deg, practicalMoveTime: 0.5952146382110525 sec
2026-07-02 09:46:04,334 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.6 ms
2026-07-02 09:46:04,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.002188] moveTile loop end practicalMoveTime=0.595 (+2.1 ms)
2026-07-02 09:46:04,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.002554] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,341 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:04,347 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:46:04,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.022392] moveTile calculated motor speeds left=98 right=100 gyroSteer=4.960000000000036 wallSteer=-6.399999999999999 (+19.8 ms)
2026-07-02 09:46:04,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.047745] moveTile applied motor speed left=98 right=100 (+25.4 ms)
2026-07-02 09:46:04,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.053048] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:46:04,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.053714] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:04,391 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.058956] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:04,392 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0400000000000205 deg, practicalMoveTime: 0.6534483183350048 sec
2026-07-02 09:46:04,393 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:46:04,393 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.061135] moveTile loop end practicalMoveTime=0.653 (+2.2 ms)
2026-07-02 09:46:04,394 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.061533] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,401 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:04,406 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:04,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.080824] moveTile calculated motor speeds left=94 right=100 gyroSteer=1.6400000000001 wallSteer=-6.799999999999997 (+19.3 ms)
2026-07-02 09:46:04,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.101758] moveTile applied motor speed left=94 right=100 (+20.9 ms)
2026-07-02 09:46:04,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.105851] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:46:04,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.107304] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:46:04,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.116371] moveTile ramp check isBigRamp=False (+9.1 ms)
2026-07-02 09:46:04,450 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.16 deg, practicalMoveTime: 0.7101145625945237 sec
2026-07-02 09:46:04,450 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:46:04,450 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.118395] moveTile loop end practicalMoveTime=0.710 (+2.0 ms)
2026-07-02 09:46:04,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.118783] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,456 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:04,462 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:46:04,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.136456] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.7200000000000273 wallSteer=-6.799999999999997 (+17.7 ms)
2026-07-02 09:46:04,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.157185] moveTile applied motor speed left=96 right=100 (+20.7 ms)
2026-07-02 09:46:04,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.163135] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:46:04,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.163780] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:04,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.169884] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:46:04,503 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1400000000000432 deg, practicalMoveTime: 0.7629715109101279 sec
2026-07-02 09:46:04,504 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:46:04,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.171859] moveTile loop end practicalMoveTime=0.763 (+2.0 ms)
2026-07-02 09:46:04,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.172331] moveTile loop start (+0.5 ms)
2026-07-02 09:46:04,516 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:04,522 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:04,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.199752] moveTile calculated motor speeds left=94 right=100 gyroSteer=1.6000000000001364 wallSteer=-7.199999999999999 (+27.4 ms)
2026-07-02 09:46:04,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.221674] moveTile applied motor speed left=94 right=100 (+21.9 ms)
2026-07-02 09:46:04,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.227647] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:46:04,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.228394] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:04,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.234214] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:46:04,568 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.27000000000004 deg, practicalMoveTime: 0.8277004773127923 sec
2026-07-02 09:46:04,569 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.5 ms
2026-07-02 09:46:04,569 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.237353] moveTile loop end practicalMoveTime=0.828 (+3.1 ms)
2026-07-02 09:46:04,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.237724] moveTile loop start (+0.4 ms)
2026-07-02 09:46:04,576 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:04,582 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:46:04,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.260328] moveTile calculated motor speeds left=95 right=100 gyroSteer=4.600000000000136 wallSteer=-9.600000000000001 (+22.6 ms)
2026-07-02 09:46:04,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.282461] moveTile applied motor speed left=95 right=100 (+22.1 ms)
2026-07-02 09:46:04,618 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.286167] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:04,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.286698] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:04,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.291292] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:04,624 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.04700718289712382 CM
2026-07-02 09:46:04,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.312081] moveTile finished by time control (+20.8 ms)
2026-07-02 09:46:04,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.312766] moveTile start final forward adjustment (+21.5 ms)
2026-07-02 09:46:04,674 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.341739] moveTile finished final forward adjustment (+29.0 ms)
2026-07-02 09:46:04,676 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.04700718289712382 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:04,677 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.344666] moveTile updated moved vertical distance -0.047 (+2.9 ms)
2026-07-02 09:46:04,820 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 14.68968323360472 cm
2026-07-02 09:46:04,822 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 53.60248777394515 cm
2026-07-02 09:46:04,823 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.497334665236846 cm
2026-07-02 09:46:04,823 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 68.38096497281862 cm
2026-07-02 09:46:04,825 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:46:04,826 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.494046] moveTile updated map and detected walls (+149.4 ms)
2026-07-02 09:46:04,829 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:04,831 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.498500] moveTile finished (+153.8 ms)
2026-07-02 09:46:04,871 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:46:04,903 - __main__ - [main.py:110] - INFO - Current position: (22, 17, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+   +   +---+---+   +   +   +
  U   U   @   V | U   U   U  
+   +   +---+   +   +   +   +
  B   U   U | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:04,911 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 17, 0)
2026-07-02 09:46:04,914 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:04,916 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [198.583578] moveTile start direction=absDirection.WEST position=(22, 17, 0) front=absDirection.WEST
2026-07-02 09:46:04,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.588028] moveTile after initial toggle check (+4.5 ms)
2026-07-02 09:46:04,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.590072] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.0 ms)
2026-07-02 09:46:04,923 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (22, 17, 0) facing absDirection.WEST
2026-07-02 09:46:04,923 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.590919] moveTile start heading change target=90 (+0.8 ms)
2026-07-02 09:46:04,951 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 90.82 target: 90
2026-07-02 09:46:04,973 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 90.82, diff: 0.8199999999999932
2026-07-02 09:46:05,017 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.80000000000001 deg
2026-07-02 09:46:05,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.685948] moveTile finished heading change (+95.0 ms)
2026-07-02 09:46:05,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.686382] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:46:05,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.686829] moveTile updated front direction (+0.4 ms)
2026-07-02 09:46:05,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.707513] moveTile stopped motors before alignment (+20.7 ms)
2026-07-02 09:46:05,188 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 14.397806428840408 cm
2026-07-02 09:46:05,190 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 53.029329337155694 cm
2026-07-02 09:46:05,191 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.5 cm
2026-07-02 09:46:05,192 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 68.63408655676491 cm
2026-07-02 09:46:05,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [198.863208] moveTile start position adjustment using LiDAR for back wall. (+155.7 ms)
2026-07-02 09:46:05,217 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:05,510 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.177749] moveTile finished backward adjustment (+314.5 ms)
2026-07-02 09:46:05,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.256468] moveTile ready for forward move (+78.7 ms)
2026-07-02 09:46:05,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.289439] moveTile initialized movement targetSteps=1 (+33.0 ms)
2026-07-02 09:46:05,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.290942] moveTile loop start (+1.5 ms)
2026-07-02 09:46:05,630 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:05,638 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:05,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.310862] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.7999999999999545 wallSteer=-4.0 (+19.9 ms)
2026-07-02 09:46:05,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.330867] moveTile applied motor speed left=99 right=100 (+20.0 ms)
2026-07-02 09:46:05,667 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.335278] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:46:05,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.336477] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:46:05,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.346900] moveTile ramp check isBigRamp=False (+10.4 ms)
2026-07-02 09:46:05,680 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.91 deg, practicalMoveTime: 0.058341431167380824 sec
2026-07-02 09:46:05,681 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:46:05,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.349460] moveTile loop end practicalMoveTime=0.058 (+2.6 ms)
2026-07-02 09:46:05,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.349876] moveTile loop start (+0.4 ms)
2026-07-02 09:46:05,688 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:05,694 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:05,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.367037] moveTile calculated motor speeds left=100 right=97 gyroSteer=6.400000000000091 wallSteer=-3.6000000000000014 (+17.2 ms)
2026-07-02 09:46:05,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.387158] moveTile applied motor speed left=100 right=97 (+20.1 ms)
2026-07-02 09:46:05,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.390882] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:05,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.391517] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:05,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.397184] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:05,730 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.42 deg, practicalMoveTime: 0.10766077519270106 sec
2026-07-02 09:46:05,731 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.8 ms
2026-07-02 09:46:05,731 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.399221] moveTile loop end practicalMoveTime=0.108 (+2.0 ms)
2026-07-02 09:46:05,732 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.399585] moveTile loop start (+0.4 ms)
2026-07-02 09:46:05,737 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:05,745 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:05,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.418860] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.880000000000109 wallSteer=-6.800000000000001 (+19.3 ms)
2026-07-02 09:46:05,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.440962] moveTile applied motor speed left=100 right=99 (+22.1 ms)
2026-07-02 09:46:05,779 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.446862] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:46:05,780 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.447460] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:05,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.455391] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:46:05,789 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37000000000000455 deg, practicalMoveTime: 0.165265079050521 sec
2026-07-02 09:46:05,789 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:46:05,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.457481] moveTile loop end practicalMoveTime=0.165 (+2.1 ms)
2026-07-02 09:46:05,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.457973] moveTile loop start (+0.5 ms)
2026-07-02 09:46:05,795 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:05,802 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:05,815 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.482632] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.9600000000000364 wallSteer=-3.200000000000003 (+24.7 ms)
2026-07-02 09:46:05,842 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.509409] moveTile applied motor speed left=99 right=100 (+26.8 ms)
2026-07-02 09:46:05,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.513370] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:05,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.514300] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:05,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.520756] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:46:05,854 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3900000000000432 deg, practicalMoveTime: 0.22990195786963624 sec
2026-07-02 09:46:05,854 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.2 ms
2026-07-02 09:46:05,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.522764] moveTile loop end practicalMoveTime=0.230 (+2.0 ms)
2026-07-02 09:46:05,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.523192] moveTile loop start (+0.4 ms)
2026-07-02 09:46:05,861 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1897d0>
2026-07-02 09:46:05,867 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:05,875 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.542720] moveTile calculated motor speeds left=98 right=100 gyroSteer=2.240000000000009 wallSteer=-3.6000000000000014 (+19.5 ms)
2026-07-02 09:46:05,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.563001] moveTile applied motor speed left=98 right=100 (+20.3 ms)
2026-07-02 09:46:05,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.566641] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:05,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.567252] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:05,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.571706] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:46:05,905 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2100000000000364 deg, practicalMoveTime: 0.28068332585631584 sec
2026-07-02 09:46:05,906 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:46:05,907 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.574589] moveTile loop end practicalMoveTime=0.281 (+2.9 ms)
2026-07-02 09:46:05,907 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.574983] moveTile loop start (+0.4 ms)
2026-07-02 09:46:05,914 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:46:05,922 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:05,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.595278] moveTile calculated motor speeds left=95 right=100 gyroSteer=2.2799999999999727 wallSteer=-6.800000000000001 (+20.3 ms)
2026-07-02 09:46:05,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.618111] moveTile applied motor speed left=95 right=100 (+22.8 ms)
2026-07-02 09:46:05,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.622681] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:05,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.623387] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:05,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.629400] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:46:05,963 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.81 deg, practicalMoveTime: 0.3375679794929013 sec
2026-07-02 09:46:05,963 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:46:05,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.631772] moveTile loop end practicalMoveTime=0.338 (+2.4 ms)
2026-07-02 09:46:05,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.632222] moveTile loop start (+0.4 ms)
2026-07-02 09:46:05,973 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:05,978 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:46:05,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.651079] moveTile calculated motor speeds left=93 right=100 gyroSteer=0.7599999999999909 wallSteer=-6.800000000000001 (+18.9 ms)
2026-07-02 09:46:06,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.670946] moveTile applied motor speed left=93 right=100 (+19.9 ms)
2026-07-02 09:46:06,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.675291] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:06,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.675651] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:06,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.680589] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:46:06,013 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4600000000000364 deg, practicalMoveTime: 0.3873746380334348 sec
2026-07-02 09:46:06,013 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.1 ms
2026-07-02 09:46:06,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.681481] moveTile loop end practicalMoveTime=0.387 (+0.9 ms)
2026-07-02 09:46:06,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.681601] moveTile loop start (+0.1 ms)
2026-07-02 09:46:06,018 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:06,020 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:46:06,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.699888] moveTile calculated motor speeds left=94 right=100 gyroSteer=-2.119999999999891 wallSteer=-3.200000000000003 (+18.3 ms)
2026-07-02 09:46:06,054 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.721934] moveTile applied motor speed left=94 right=100 (+22.0 ms)
2026-07-02 09:46:06,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.725675] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:06,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.726018] moveTile obstacle check escapeFlag=False (+0.3 ms)
2026-07-02 09:46:06,063 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.730915] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:46:06,063 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.010000000000047748 deg, practicalMoveTime: 0.4373950935856666 sec
2026-07-02 09:46:06,064 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.0 ms
2026-07-02 09:46:06,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.731771] moveTile loop end practicalMoveTime=0.437 (+0.9 ms)
2026-07-02 09:46:06,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.731909] moveTile loop start (+0.1 ms)
2026-07-02 09:46:06,074 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:06,078 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:06,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.749864] moveTile calculated motor speeds left=95 right=100 gyroSteer=-0.8799999999998818 wallSteer=-3.200000000000003 (+18.0 ms)
2026-07-02 09:46:06,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.770618] moveTile applied motor speed left=95 right=100 (+20.8 ms)
2026-07-02 09:46:06,107 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.774799] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:46:06,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.775537] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:06,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.782473] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:46:06,116 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.4890822029009873 sec
2026-07-02 09:46:06,116 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.0 ms
2026-07-02 09:46:06,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.784696] moveTile loop end practicalMoveTime=0.489 (+2.2 ms)
2026-07-02 09:46:06,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.785169] moveTile loop start (+0.5 ms)
2026-07-02 09:46:06,123 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1897d0>
2026-07-02 09:46:06,128 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:06,133 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.801182] moveTile calculated motor speeds left=88 right=100 gyroSteer=1.2000000000000455 wallSteer=-13.200000000000003 (+16.0 ms)
2026-07-02 09:46:06,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.822279] moveTile applied motor speed left=88 right=100 (+21.1 ms)
2026-07-02 09:46:06,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.825911] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:06,159 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.826482] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:06,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.831330] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:06,165 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.62 deg, practicalMoveTime: 0.5374052482183 sec
2026-07-02 09:46:06,165 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.1 ms
2026-07-02 09:46:06,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.833817] moveTile loop end practicalMoveTime=0.537 (+2.5 ms)
2026-07-02 09:46:06,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.834214] moveTile loop start (+0.4 ms)
2026-07-02 09:46:06,178 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:06,185 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:06,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.860308] moveTile calculated motor speeds left=94 right=100 gyroSteer=1.6400000000001 wallSteer=-7.600000000000001 (+26.1 ms)
2026-07-02 09:46:06,213 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.880404] moveTile applied motor speed left=94 right=100 (+20.1 ms)
2026-07-02 09:46:06,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.885149] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:46:06,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.886176] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:06,223 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.890580] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:46:06,224 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.03000000000002956 deg, practicalMoveTime: 0.5955469486223839 sec
2026-07-02 09:46:06,225 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:46:06,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.893407] moveTile loop end practicalMoveTime=0.596 (+2.8 ms)
2026-07-02 09:46:06,226 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.893826] moveTile loop start (+0.4 ms)
2026-07-02 09:46:06,232 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:06,238 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:06,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.912466] moveTile calculated motor speeds left=99 right=100 gyroSteer=5.039999999999964 wallSteer=-6.0 (+18.6 ms)
2026-07-02 09:46:06,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.932332] moveTile applied motor speed left=99 right=100 (+19.9 ms)
2026-07-02 09:46:06,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.936278] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:06,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.936795] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:06,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.941793] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:06,276 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9600000000000364 deg, practicalMoveTime: 0.646376376087876 sec
2026-07-02 09:46:06,277 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:46:06,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.944848] moveTile loop end practicalMoveTime=0.646 (+3.1 ms)
2026-07-02 09:46:06,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.945217] moveTile loop start (+0.4 ms)
2026-07-02 09:46:06,283 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:06,290 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:46:06,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.964371] moveTile calculated motor speeds left=99 right=100 gyroSteer=5.2000000000000455 wallSteer=-6.0 (+19.2 ms)
2026-07-02 09:46:06,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.985107] moveTile applied motor speed left=99 right=100 (+20.7 ms)
2026-07-02 09:46:06,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.990979] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:46:06,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.991653] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:06,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.997458] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:46:06,331 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.61 deg, practicalMoveTime: 0.7007362217201769 sec
2026-07-02 09:46:06,332 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:46:06,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [199.999840] moveTile loop end practicalMoveTime=0.701 (+2.4 ms)
2026-07-02 09:46:06,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.000293] moveTile loop start (+0.5 ms)
2026-07-02 09:46:06,341 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:06,346 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:06,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.019001] moveTile calculated motor speeds left=100 right=97 gyroSteer=8.440000000000055 wallSteer=-5.600000000000001 (+18.7 ms)
2026-07-02 09:46:06,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.038294] moveTile applied motor speed left=100 right=97 (+19.3 ms)
2026-07-02 09:46:06,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.041925] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:06,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.042455] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:06,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.050181] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:46:06,383 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.7524392857482358 sec
2026-07-02 09:46:06,384 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:46:06,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.052246] moveTile loop end practicalMoveTime=0.752 (+2.1 ms)
2026-07-02 09:46:06,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.052631] moveTile loop start (+0.4 ms)
2026-07-02 09:46:06,393 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:06,399 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:06,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.075512] moveTile calculated motor speeds left=100 right=97 gyroSteer=10.400000000000091 wallSteer=-7.600000000000001 (+22.9 ms)
2026-07-02 09:46:06,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.096438] moveTile applied motor speed left=100 right=97 (+20.9 ms)
2026-07-02 09:46:06,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.101034] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:06,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.101861] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:06,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.110570] moveTile ramp check isBigRamp=False (+8.7 ms)
2026-07-02 09:46:06,444 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.97 deg, practicalMoveTime: 0.8124002129926763 sec
2026-07-02 09:46:06,445 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.2 ms
2026-07-02 09:46:06,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.113447] moveTile loop end practicalMoveTime=0.812 (+2.9 ms)
2026-07-02 09:46:06,446 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.113818] moveTile loop start (+0.4 ms)
2026-07-02 09:46:06,454 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:06,460 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:06,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.136507] moveTile calculated motor speeds left=100 right=95 gyroSteer=12.0 wallSteer=-7.600000000000001 (+22.7 ms)
2026-07-02 09:46:06,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.158731] moveTile applied motor speed left=100 right=95 (+22.2 ms)
2026-07-02 09:46:06,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.163898] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:46:06,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.164690] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:06,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.170750] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:46:06,504 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.013862927166945269 CM
2026-07-02 09:46:06,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.191583] moveTile finished by time control (+20.8 ms)
2026-07-02 09:46:06,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.193042] moveTile start final forward adjustment (+22.3 ms)
2026-07-02 09:46:06,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.224464] moveTile finished final forward adjustment (+31.4 ms)
2026-07-02 09:46:06,558 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.013862927166945269 cm, past distances: [(-0.04700718289712382, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:06,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.226585] moveTile updated moved vertical distance -0.014 (+2.1 ms)
2026-07-02 09:46:06,707 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.28521035665005 cm
2026-07-02 09:46:06,709 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 77.51785292868202 cm
2026-07-02 09:46:06,710 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 108.92948756157274 cm
2026-07-02 09:46:06,711 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 46.42496061917961 cm
2026-07-02 09:46:06,714 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:46:06,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.382588] moveTile updated map and detected walls (+156.0 ms)
2026-07-02 09:46:06,717 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:06,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.385766] moveTile finished (+159.2 ms)
2026-07-02 09:46:06,757 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 2)
2026-07-02 09:46:06,794 - __main__ - [main.py:110] - INFO - Current position: (21, 17, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+   +---+---+---+   +   +   +
  U   @   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B   U   U | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:06,805 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 17, 0)
2026-07-02 09:46:06,808 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:06,809 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [200.477237] moveTile start direction=absDirection.WEST position=(21, 17, 0) front=absDirection.WEST
2026-07-02 09:46:06,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.482094] moveTile after initial toggle check (+4.9 ms)
2026-07-02 09:46:06,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.484404] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.3 ms)
2026-07-02 09:46:06,817 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (21, 17, 0) facing absDirection.WEST
2026-07-02 09:46:06,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.485464] moveTile start heading change target=90 (+1.1 ms)
2026-07-02 09:46:06,842 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 91.94999999999999 target: 90
2026-07-02 09:46:06,862 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 91.94999999999999, diff: 1.9499999999999886
2026-07-02 09:46:06,929 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 91.99000000000001 deg
2026-07-02 09:46:06,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.599282] moveTile finished heading change (+113.8 ms)
2026-07-02 09:46:06,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.599979] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:46:06,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.600811] moveTile updated front direction (+0.8 ms)
2026-07-02 09:46:06,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.623057] moveTile stopped motors before alignment (+22.2 ms)
2026-07-02 09:46:07,107 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.309169279224635 cm
2026-07-02 09:46:07,108 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 78.09525030577596 cm
2026-07-02 09:46:07,109 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 108.42733210394672 cm
2026-07-02 09:46:07,110 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 43.65349192115193 cm
2026-07-02 09:46:07,113 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.781143] moveTile ready for forward move (+158.1 ms)
2026-07-02 09:46:07,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.811855] moveTile initialized movement targetSteps=1 (+30.7 ms)
2026-07-02 09:46:07,146 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.813417] moveTile loop start (+1.6 ms)
2026-07-02 09:46:07,156 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:07,162 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:07,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.836543] moveTile calculated motor speeds left=99 right=100 gyroSteer=5.559999999999945 wallSteer=-6.399999999999999 (+23.1 ms)
2026-07-02 09:46:07,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.856445] moveTile applied motor speed left=99 right=100 (+19.9 ms)
2026-07-02 09:46:07,193 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.860471] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:07,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.862036] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:46:07,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.867742] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:07,201 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.34000000000003 deg, practicalMoveTime: 0.05675654536724974 sec
2026-07-02 09:46:07,202 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.1 ms
2026-07-02 09:46:07,202 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.870098] moveTile loop end practicalMoveTime=0.057 (+2.4 ms)
2026-07-02 09:46:07,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.870477] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,209 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,215 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:07,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.889452] moveTile calculated motor speeds left=98 right=100 gyroSteer=4.6400000000001 wallSteer=-6.399999999999999 (+19.0 ms)
2026-07-02 09:46:07,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.914611] moveTile applied motor speed left=98 right=100 (+25.2 ms)
2026-07-02 09:46:07,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.918953] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:07,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.920689] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:46:07,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.926047] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:07,259 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18999999999999773 deg, practicalMoveTime: 0.11416098628243623 sec
2026-07-02 09:46:07,260 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.0 ms
2026-07-02 09:46:07,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.928132] moveTile loop end practicalMoveTime=0.114 (+2.1 ms)
2026-07-02 09:46:07,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.928641] moveTile loop start (+0.5 ms)
2026-07-02 09:46:07,267 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3f90>
2026-07-02 09:46:07,273 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:07,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.945745] moveTile calculated motor speeds left=98 right=100 gyroSteer=4.7999999999999545 wallSteer=-6.399999999999999 (+17.1 ms)
2026-07-02 09:46:07,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.965384] moveTile applied motor speed left=98 right=100 (+19.6 ms)
2026-07-02 09:46:07,301 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.968995] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:07,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.969501] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:07,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.977582] moveTile ramp check isBigRamp=False (+8.1 ms)
2026-07-02 09:46:07,311 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.04 deg, practicalMoveTime: 0.1651134204665538 sec
2026-07-02 09:46:07,311 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:46:07,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.979574] moveTile loop end practicalMoveTime=0.165 (+2.0 ms)
2026-07-02 09:46:07,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [200.979954] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,321 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,327 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:07,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.000972] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.400000000000091 wallSteer=-4.399999999999999 (+21.0 ms)
2026-07-02 09:46:07,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.021374] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:46:07,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.026548] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:46:07,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.027430] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:07,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.033079] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:46:07,366 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6500000000000341 deg, practicalMoveTime: 0.21997572696138232 sec
2026-07-02 09:46:07,367 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:46:07,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.035400] moveTile loop end practicalMoveTime=0.220 (+2.3 ms)
2026-07-02 09:46:07,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.035899] moveTile loop start (+0.5 ms)
2026-07-02 09:46:07,374 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:07,380 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:07,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.052838] moveTile calculated motor speeds left=96 right=100 gyroSteer=3.759999999999991 wallSteer=-6.800000000000001 (+16.9 ms)
2026-07-02 09:46:07,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.079784] moveTile applied motor speed left=96 right=100 (+26.9 ms)
2026-07-02 09:46:07,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.084675] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:46:07,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.085333] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:07,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.091054] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:07,424 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.27737921114964326 sec
2026-07-02 09:46:07,425 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.1 ms
2026-07-02 09:46:07,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.093614] moveTile loop end practicalMoveTime=0.277 (+2.6 ms)
2026-07-02 09:46:07,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.094020] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,433 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2fd0>
2026-07-02 09:46:07,439 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:46:07,445 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.113031] moveTile calculated motor speeds left=100 right=98 gyroSteer=6.559999999999945 wallSteer=-4.800000000000001 (+19.0 ms)
2026-07-02 09:46:07,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.136054] moveTile applied motor speed left=100 right=98 (+23.0 ms)
2026-07-02 09:46:07,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.141742] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:46:07,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.142593] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:07,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.147721] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:07,481 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6400000000000432 deg, practicalMoveTime: 0.33290867900921733 sec
2026-07-02 09:46:07,481 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:46:07,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.149692] moveTile loop end practicalMoveTime=0.333 (+2.0 ms)
2026-07-02 09:46:07,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.150079] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,489 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,496 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:46:07,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.175404] moveTile calculated motor speeds left=100 right=96 gyroSteer=6.0 wallSteer=-2.8000000000000007 (+25.3 ms)
2026-07-02 09:46:07,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.195506] moveTile applied motor speed left=100 right=96 (+20.1 ms)
2026-07-02 09:46:07,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.201688] moveTile tile color check tempTileColor=E (+6.2 ms)
2026-07-02 09:46:07,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.202705] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:07,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.214636] moveTile ramp check isBigRamp=False (+11.9 ms)
2026-07-02 09:46:07,548 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1400000000000432 deg, practicalMoveTime: 0.39943680071810045 sec
2026-07-02 09:46:07,549 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 67.1 ms
2026-07-02 09:46:07,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.218003] moveTile loop end practicalMoveTime=0.399 (+3.4 ms)
2026-07-02 09:46:07,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.218458] moveTile loop start (+0.5 ms)
2026-07-02 09:46:07,558 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,564 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:07,569 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.236828] moveTile calculated motor speeds left=100 right=98 gyroSteer=5.360000000000127 wallSteer=-3.6000000000000014 (+18.4 ms)
2026-07-02 09:46:07,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.256990] moveTile applied motor speed left=100 right=98 (+20.2 ms)
2026-07-02 09:46:07,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.261033] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:07,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.261676] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:07,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.266176] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:46:07,600 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18999999999999773 deg, practicalMoveTime: 0.44960956905438715 sec
2026-07-02 09:46:07,601 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:46:07,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.269647] moveTile loop end practicalMoveTime=0.450 (+3.5 ms)
2026-07-02 09:46:07,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.270622] moveTile loop start (+1.0 ms)
2026-07-02 09:46:07,610 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,616 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:07,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.291286] moveTile calculated motor speeds left=98 right=100 gyroSteer=3.2000000000000455 wallSteer=-5.199999999999999 (+20.7 ms)
2026-07-02 09:46:07,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.310611] moveTile applied motor speed left=98 right=100 (+19.3 ms)
2026-07-02 09:46:07,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.314326] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:07,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.315000] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:07,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.325218] moveTile ramp check isBigRamp=False (+10.2 ms)
2026-07-02 09:46:07,658 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.27000000000003865 deg, practicalMoveTime: 0.5068775527219705 sec
2026-07-02 09:46:07,660 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:46:07,660 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.328067] moveTile loop end practicalMoveTime=0.507 (+2.8 ms)
2026-07-02 09:46:07,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.328576] moveTile loop start (+0.5 ms)
2026-07-02 09:46:07,670 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,676 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:07,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.349680] moveTile calculated motor speeds left=93 right=100 gyroSteer=0.2799999999999727 wallSteer=-7.199999999999999 (+21.1 ms)
2026-07-02 09:46:07,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.369922] moveTile applied motor speed left=93 right=100 (+20.2 ms)
2026-07-02 09:46:07,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.379042] moveTile tile color check tempTileColor=E (+9.1 ms)
2026-07-02 09:46:07,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.379755] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:07,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.386649] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:46:07,720 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3100000000000023 deg, practicalMoveTime: 0.5670453479048219 sec
2026-07-02 09:46:07,721 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.7 ms
2026-07-02 09:46:07,721 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.388834] moveTile loop end practicalMoveTime=0.567 (+2.2 ms)
2026-07-02 09:46:07,721 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.389261] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,728 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1897d0>
2026-07-02 09:46:07,735 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:07,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.417457] moveTile calculated motor speeds left=87 right=100 gyroSteer=-5.039999999999964 wallSteer=-7.199999999999999 (+28.2 ms)
2026-07-02 09:46:07,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.437699] moveTile applied motor speed left=87 right=100 (+20.2 ms)
2026-07-02 09:46:07,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.442426] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:46:07,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.443122] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:07,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.448514] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:07,781 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.05 deg, practicalMoveTime: 0.6279598348240729 sec
2026-07-02 09:46:07,782 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.7 ms
2026-07-02 09:46:07,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.450476] moveTile loop end practicalMoveTime=0.628 (+2.0 ms)
2026-07-02 09:46:07,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.450866] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,790 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3f90>
2026-07-02 09:46:07,796 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:46:07,805 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.473153] moveTile calculated motor speeds left=91 right=100 gyroSteer=-0.6399999999998727 wallSteer=-7.600000000000001 (+22.3 ms)
2026-07-02 09:46:07,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.494866] moveTile applied motor speed left=91 right=100 (+21.7 ms)
2026-07-02 09:46:07,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.501634] moveTile tile color check tempTileColor=E (+6.8 ms)
2026-07-02 09:46:07,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.502318] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:07,841 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.508969] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:46:07,842 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.6882265349486975 sec
2026-07-02 09:46:07,843 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:46:07,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.511395] moveTile loop end practicalMoveTime=0.688 (+2.4 ms)
2026-07-02 09:46:07,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.511754] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,850 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:07,856 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:46:07,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.529198] moveTile calculated motor speeds left=97 right=100 gyroSteer=5.600000000000136 wallSteer=-8.0 (+17.4 ms)
2026-07-02 09:46:07,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.549002] moveTile applied motor speed left=97 right=100 (+19.8 ms)
2026-07-02 09:46:07,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.553936] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:46:07,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.554526] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:07,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.563404] moveTile ramp check isBigRamp=False (+8.9 ms)
2026-07-02 09:46:07,897 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.88 deg, practicalMoveTime: 0.741730884610811 sec
2026-07-02 09:46:07,897 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:46:07,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.565672] moveTile loop end practicalMoveTime=0.742 (+2.3 ms)
2026-07-02 09:46:07,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.566073] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,907 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3f90>
2026-07-02 09:46:07,914 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:07,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.588154] moveTile calculated motor speeds left=99 right=100 gyroSteer=7.120000000000118 wallSteer=-8.0 (+22.1 ms)
2026-07-02 09:46:07,941 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.608535] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:46:07,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.612445] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:07,945 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.613102] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:07,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.623008] moveTile ramp check isBigRamp=False (+9.9 ms)
2026-07-02 09:46:07,957 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.92 deg, practicalMoveTime: 0.8008948741803532 sec
2026-07-02 09:46:07,957 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:46:07,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.625457] moveTile loop end practicalMoveTime=0.801 (+2.4 ms)
2026-07-02 09:46:07,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.625821] moveTile loop start (+0.4 ms)
2026-07-02 09:46:07,968 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:07,974 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.1, S=255.0, V=251.9
2026-07-02 09:46:07,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.648416] moveTile calculated motor speeds left=100 right=94 gyroSteer=12.680000000000064 wallSteer=-7.199999999999999 (+22.6 ms)
2026-07-02 09:46:08,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.667862] moveTile applied motor speed left=100 right=94 (+19.4 ms)
2026-07-02 09:46:08,005 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.672463] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:08,005 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.673280] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:08,011 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.678403] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:08,011 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.006653186339017531 CM
2026-07-02 09:46:08,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.698680] moveTile finished by time control (+20.3 ms)
2026-07-02 09:46:08,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.699339] moveTile start final forward adjustment (+20.9 ms)
2026-07-02 09:46:08,068 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:46:08,082 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.8
2026-07-02 09:46:08,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.771181] moveTile finished final forward adjustment (+71.8 ms)
2026-07-02 09:46:08,104 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.006653186339017531 cm, past distances: [(-0.013862927166945269, False), (-0.04700718289712382, False), (0, False), (0, False)]
2026-07-02 09:46:08,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.772851] moveTile updated moved vertical distance 0.007 (+1.7 ms)
2026-07-02 09:46:08,259 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.097699624744068 cm
2026-07-02 09:46:08,261 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 109.18293739078284 cm
2026-07-02 09:46:08,262 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 228.86049938737293 cm
2026-07-02 09:46:08,263 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 13.181909668286908 cm
2026-07-02 09:46:08,266 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:46:08,266 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 13.181909668286908 cm, TSD10 distance: 3.0 cm
2026-07-02 09:46:08,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.934825] moveTile updated map and detected walls (+162.0 ms)
2026-07-02 09:46:08,269 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:08,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [201.938064] moveTile finished (+165.2 ms)
2026-07-02 09:46:08,309 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:46:08,338 - __main__ - [main.py:110] - INFO - Current position: (20, 17, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| @   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B   U   U | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:08,346 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 18, 0)
2026-07-02 09:46:08,350 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:08,351 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [202.019057] moveTile start direction=absDirection.EAST position=(20, 17, 0) front=absDirection.WEST
2026-07-02 09:46:08,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [202.025124] moveTile after initial toggle check (+6.1 ms)
2026-07-02 09:46:08,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [202.027609] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.5 ms)
2026-07-02 09:46:08,360 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (20, 17, 0) facing absDirection.WEST
2026-07-02 09:46:08,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [202.028598] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:46:08,383 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 92.50999999999999 target: 180
2026-07-02 09:46:09,343 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 175.36, diff: 4.639999999999986
2026-07-02 09:46:09,400 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 179.68 deg
2026-07-02 09:46:09,424 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 181.71 target: 270
2026-07-02 09:46:10,200 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 264.65, diff: 5.350000000000023
2026-07-02 09:46:10,251 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.34000000000003 deg
2026-07-02 09:46:10,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [203.919304] moveTile finished heading change (+1890.7 ms)
2026-07-02 09:46:10,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [203.919742] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:46:10,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [203.920259] moveTile updated front direction (+0.5 ms)
2026-07-02 09:46:10,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [203.942470] moveTile stopped motors before alignment (+22.2 ms)
2026-07-02 09:46:10,418 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 19.293726287664484 cm
2026-07-02 09:46:10,419 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 101.21338740641126 cm
2026-07-02 09:46:10,422 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 224.26470258074548 cm
2026-07-02 09:46:10,423 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 20.863998216315338 cm
2026-07-02 09:46:10,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.091372] moveTile start position adjustment using LiDAR for back wall. (+148.9 ms)
2026-07-02 09:46:10,444 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:10,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.354656] moveTile finished backward adjustment (+263.3 ms)
2026-07-02 09:46:10,767 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.434375] moveTile ready for forward move (+79.7 ms)
2026-07-02 09:46:10,799 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:46:10,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.468059] moveTile initialized movement targetSteps=1 (+33.7 ms)
2026-07-02 09:46:10,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.469587] moveTile loop start (+1.5 ms)
2026-07-02 09:46:10,810 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:10,816 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:10,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.488867] moveTile calculated motor speeds left=100 right=83 gyroSteer=18.160000000000082 wallSteer=-1.1999999999999993 (+19.3 ms)
2026-07-02 09:46:10,842 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.509492] moveTile applied motor speed left=100 right=83 (+20.6 ms)
2026-07-02 09:46:10,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.518026] moveTile tile color check tempTileColor=E (+8.5 ms)
2026-07-02 09:46:10,851 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.519309] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:46:10,856 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.523905] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:10,857 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6000000000000227 deg, practicalMoveTime: 0.05747170022569559 sec
2026-07-02 09:46:10,858 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:46:10,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.525865] moveTile loop end practicalMoveTime=0.057 (+2.0 ms)
2026-07-02 09:46:10,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.526239] moveTile loop start (+0.4 ms)
2026-07-02 09:46:10,865 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:10,871 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:10,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.546465] moveTile calculated motor speeds left=100 right=83 gyroSteer=18.079999999999927 wallSteer=-1.1999999999999993 (+20.2 ms)
2026-07-02 09:46:10,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.565775] moveTile applied motor speed left=100 right=83 (+19.3 ms)
2026-07-02 09:46:10,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.569401] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:10,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.569947] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:10,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.574262] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:10,908 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4700000000000273 deg, practicalMoveTime: 0.10763018219799336 sec
2026-07-02 09:46:10,908 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.0 ms
2026-07-02 09:46:10,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.576758] moveTile loop end practicalMoveTime=0.108 (+2.5 ms)
2026-07-02 09:46:10,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.577131] moveTile loop start (+0.4 ms)
2026-07-02 09:46:10,915 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:10,922 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:10,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.596941] moveTile calculated motor speeds left=100 right=85 gyroSteer=18.11999999999989 wallSteer=-3.6000000000000014 (+19.8 ms)
2026-07-02 09:46:10,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.621402] moveTile applied motor speed left=100 right=85 (+24.5 ms)
2026-07-02 09:46:10,957 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.625160] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:10,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.625735] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:10,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.631153] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:10,965 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18999999999999773 deg, practicalMoveTime: 0.16390309475832499 sec
2026-07-02 09:46:10,966 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:46:10,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.633987] moveTile loop end practicalMoveTime=0.164 (+2.8 ms)
2026-07-02 09:46:10,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.634400] moveTile loop start (+0.4 ms)
2026-07-02 09:46:10,976 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:10,982 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:10,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.656111] moveTile calculated motor speeds left=100 right=74 gyroSteer=25.320000000000164 wallSteer=0.0 (+21.7 ms)
2026-07-02 09:46:11,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.675739] moveTile applied motor speed left=100 right=74 (+19.6 ms)
2026-07-02 09:46:11,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.679503] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:11,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.680099] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:11,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.685550] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:11,019 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.26000000000004775 deg, practicalMoveTime: 0.21733906228866098 sec
2026-07-02 09:46:11,020 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:46:11,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.688569] moveTile loop end practicalMoveTime=0.217 (+3.0 ms)
2026-07-02 09:46:11,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.689033] moveTile loop start (+0.5 ms)
2026-07-02 09:46:11,026 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:11,035 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:46:11,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.707471] moveTile calculated motor speeds left=100 right=83 gyroSteer=19.680000000000064 wallSteer=-3.6000000000000014 (+18.4 ms)
2026-07-02 09:46:11,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.727218] moveTile applied motor speed left=100 right=83 (+19.7 ms)
2026-07-02 09:46:11,063 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.731262] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:11,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.731808] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:11,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.741265] moveTile ramp check isBigRamp=False (+9.5 ms)
2026-07-02 09:46:11,074 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.27171730935947636 sec
2026-07-02 09:46:11,075 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:46:11,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.743262] moveTile loop end practicalMoveTime=0.272 (+2.0 ms)
2026-07-02 09:46:11,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.743675] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,081 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:11,086 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:46:11,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.760829] moveTile calculated motor speeds left=100 right=79 gyroSteer=20.559999999999945 wallSteer=0.0 (+17.2 ms)
2026-07-02 09:46:11,113 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.781343] moveTile applied motor speed left=100 right=79 (+20.5 ms)
2026-07-02 09:46:11,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.785015] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:11,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.785532] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:11,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.790450] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:46:11,124 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7100000000000364 deg, practicalMoveTime: 0.3205711137601359 sec
2026-07-02 09:46:11,125 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.4 ms
2026-07-02 09:46:11,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.793686] moveTile loop end practicalMoveTime=0.321 (+3.2 ms)
2026-07-02 09:46:11,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.794131] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,133 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:11,140 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:46:11,146 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.814017] moveTile calculated motor speeds left=100 right=83 gyroSteer=18.840000000000146 wallSteer=-2.3999999999999986 (+19.9 ms)
2026-07-02 09:46:11,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.834812] moveTile applied motor speed left=100 right=83 (+20.8 ms)
2026-07-02 09:46:11,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.839847] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:46:11,173 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.840795] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:11,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.848310] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:46:11,182 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.3771185867054824 sec
2026-07-02 09:46:11,183 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:46:11,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.851519] moveTile loop end practicalMoveTime=0.377 (+3.2 ms)
2026-07-02 09:46:11,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.852777] moveTile loop start (+1.3 ms)
2026-07-02 09:46:11,191 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:11,197 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:11,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.870444] moveTile calculated motor speeds left=100 right=87 gyroSteer=15.0 wallSteer=-2.0 (+17.7 ms)
2026-07-02 09:46:11,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.895058] moveTile applied motor speed left=100 right=87 (+24.6 ms)
2026-07-02 09:46:11,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.901198] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:46:11,234 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.901865] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:11,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.906579] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:46:11,240 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.43367685627288316 sec
2026-07-02 09:46:11,240 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:46:11,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.908610] moveTile loop end practicalMoveTime=0.434 (+2.0 ms)
2026-07-02 09:46:11,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.908976] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,248 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:11,255 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:46:11,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.928692] moveTile calculated motor speeds left=93 right=100 gyroSteer=10.400000000000091 wallSteer=-17.200000000000003 (+19.7 ms)
2026-07-02 09:46:11,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.951807] moveTile applied motor speed left=93 right=100 (+23.1 ms)
2026-07-02 09:46:11,288 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.956273] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:11,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.957810] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:46:11,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.964803] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:46:11,298 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.41 deg, practicalMoveTime: 0.49142378112148066 sec
2026-07-02 09:46:11,299 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:46:11,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.967744] moveTile loop end practicalMoveTime=0.491 (+2.9 ms)
2026-07-02 09:46:11,300 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.968376] moveTile loop start (+0.6 ms)
2026-07-02 09:46:11,306 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:11,313 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:11,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [204.986202] moveTile calculated motor speeds left=99 right=100 gyroSteer=9.840000000000146 wallSteer=-10.400000000000002 (+17.8 ms)
2026-07-02 09:46:11,340 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.007626] moveTile applied motor speed left=99 right=100 (+21.4 ms)
2026-07-02 09:46:11,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.011286] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:11,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.011959] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:11,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.020865] moveTile ramp check isBigRamp=False (+8.9 ms)
2026-07-02 09:46:11,354 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2300000000000182 deg, practicalMoveTime: 0.546124430247248 sec
2026-07-02 09:46:11,355 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:46:11,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.022847] moveTile loop end practicalMoveTime=0.546 (+2.0 ms)
2026-07-02 09:46:11,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.023211] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,362 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3250>
2026-07-02 09:46:11,368 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:11,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.041167] moveTile calculated motor speeds left=100 right=97 gyroSteer=7.519999999999982 wallSteer=-4.800000000000001 (+18.0 ms)
2026-07-02 09:46:11,393 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.061216] moveTile applied motor speed left=100 right=97 (+20.0 ms)
2026-07-02 09:46:11,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.065832] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:11,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.066426] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:11,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.072513] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:46:11,406 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.98 deg, practicalMoveTime: 0.5971355126497289 sec
2026-07-02 09:46:11,406 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:46:11,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.074439] moveTile loop end practicalMoveTime=0.597 (+1.9 ms)
2026-07-02 09:46:11,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.074797] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,414 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:11,420 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:11,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.096694] moveTile calculated motor speeds left=100 right=86 gyroSteer=13.11999999999989 wallSteer=0.8000000000000007 (+21.9 ms)
2026-07-02 09:46:11,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.118966] moveTile applied motor speed left=100 right=86 (+22.3 ms)
2026-07-02 09:46:11,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.122664] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:11,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.123282] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:11,462 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.129808] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:46:11,463 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.010000000000047748 deg, practicalMoveTime: 0.6538440860810518 sec
2026-07-02 09:46:11,463 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:46:11,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.131762] moveTile loop end practicalMoveTime=0.654 (+2.0 ms)
2026-07-02 09:46:11,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.132229] moveTile loop start (+0.5 ms)
2026-07-02 09:46:11,470 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:11,476 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:11,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.154275] moveTile calculated motor speeds left=100 right=90 gyroSteer=11.360000000000127 wallSteer=-1.6000000000000014 (+22.0 ms)
2026-07-02 09:46:11,509 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.177161] moveTile applied motor speed left=100 right=90 (+22.9 ms)
2026-07-02 09:46:11,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.181617] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:11,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.182297] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:11,520 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.187809] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:11,521 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3799999999999955 deg, practicalMoveTime: 0.7112593646320772 sec
2026-07-02 09:46:11,522 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.1 ms
2026-07-02 09:46:11,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.189802] moveTile loop end practicalMoveTime=0.711 (+2.0 ms)
2026-07-02 09:46:11,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.190167] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,529 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:11,535 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:11,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.207196] moveTile calculated motor speeds left=100 right=91 gyroSteer=10.599999999999909 wallSteer=-1.6000000000000014 (+17.0 ms)
2026-07-02 09:46:11,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.232750] moveTile applied motor speed left=100 right=91 (+25.6 ms)
2026-07-02 09:46:11,572 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.240264] moveTile tile color check tempTileColor=E (+7.5 ms)
2026-07-02 09:46:11,573 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.241101] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:11,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.246174] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:11,580 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.34000000000003183 deg, practicalMoveTime: 0.7695717076691627 sec
2026-07-02 09:46:11,581 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:46:11,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.248986] moveTile loop end practicalMoveTime=0.770 (+2.8 ms)
2026-07-02 09:46:11,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.249351] moveTile loop start (+0.4 ms)
2026-07-02 09:46:11,587 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:11,594 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:11,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.268386] moveTile calculated motor speeds left=100 right=94 gyroSteer=7.279999999999973 wallSteer=-1.6000000000000014 (+19.0 ms)
2026-07-02 09:46:11,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.296745] moveTile applied motor speed left=100 right=94 (+28.4 ms)
2026-07-02 09:46:11,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.301082] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:11,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.301856] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:11,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.307662] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:46:11,641 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1400000000000432 deg, practicalMoveTime: 0.8298134015846869 sec
2026-07-02 09:46:11,642 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.1 ms
2026-07-02 09:46:11,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.310725] moveTile loop end practicalMoveTime=0.830 (+3.1 ms)
2026-07-02 09:46:11,644 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.311503] moveTile loop start (+0.8 ms)
2026-07-02 09:46:11,649 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:11,656 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:46:11,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.329861] moveTile calculated motor speeds left=100 right=93 gyroSteer=8.039999999999964 wallSteer=-1.6000000000000014 (+18.4 ms)
2026-07-02 09:46:11,683 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.350555] moveTile applied motor speed left=100 right=93 (+20.7 ms)
2026-07-02 09:46:11,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.355053] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:11,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.355913] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:11,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.364998] moveTile ramp check isBigRamp=False (+9.1 ms)
2026-07-02 09:46:11,698 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.25779765797107435 CM
2026-07-02 09:46:11,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.386768] moveTile finished by time control (+21.8 ms)
2026-07-02 09:46:11,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.387497] moveTile start final forward adjustment (+22.5 ms)
2026-07-02 09:46:11,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.417060] moveTile finished final forward adjustment (+29.6 ms)
2026-07-02 09:46:11,890 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 18.299999237060547 cm
2026-07-02 09:46:11,891 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 74.03356687596609 cm
2026-07-02 09:46:11,894 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 104.52424968568555 cm
2026-07-02 09:46:11,896 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 47.83814567204038 cm
2026-07-02 09:46:11,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.565028] moveTile updated map and detected walls (+148.0 ms)
2026-07-02 09:46:11,900 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:11,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.568685] moveTile finished (+151.6 ms)
2026-07-02 09:46:11,942 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (2, 1)
2026-07-02 09:46:11,976 - __main__ - [main.py:110] - INFO - Current position: (21, 17, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   @   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B   U   U | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:11,983 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [205.650887] moveTile start direction=absDirection.SOUTH position=(21, 17, 0) front=absDirection.EAST
2026-07-02 09:46:11,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.656549] moveTile after initial toggle check (+5.7 ms)
2026-07-02 09:46:11,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.660414] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+3.9 ms)
2026-07-02 09:46:11,993 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 17, 0) facing absDirection.EAST
2026-07-02 09:46:11,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [205.661386] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:46:12,025 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 269.99 target: 180
2026-07-02 09:46:12,814 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 184.45, diff: 4.449999999999989
2026-07-02 09:46:12,867 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 181.53 deg
2026-07-02 09:46:12,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [206.536108] moveTile finished heading change (+874.7 ms)
2026-07-02 09:46:12,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [206.536597] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:46:12,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [206.537034] moveTile updated front direction (+0.4 ms)
2026-07-02 09:46:12,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [206.558707] moveTile stopped motors before alignment (+21.7 ms)
2026-07-02 09:46:13,041 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 22.786998032630247 cm
2026-07-02 09:46:13,042 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 75.48850098430754 cm
2026-07-02 09:46:13,043 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 100.93847352892867 cm
2026-07-02 09:46:13,045 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 47.275928779965845 cm
2026-07-02 09:46:13,046 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [206.714017] moveTile start position adjustment using LiDAR for back wall. (+155.3 ms)
2026-07-02 09:46:13,066 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:13,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [206.935931] moveTile finished backward adjustment (+221.9 ms)
2026-07-02 09:46:13,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.015202] moveTile ready for forward move (+79.3 ms)
2026-07-02 09:46:13,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.042423] moveTile initialized movement targetSteps=1 (+27.2 ms)
2026-07-02 09:46:13,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.043920] moveTile loop start (+1.5 ms)
2026-07-02 09:46:13,386 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:13,393 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.9, S=255.0, V=254.9
2026-07-02 09:46:13,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.066946] moveTile calculated motor speeds left=87 right=100 gyroSteer=-12.480000000000018 wallSteer=0.0 (+23.0 ms)
2026-07-02 09:46:13,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.086912] moveTile applied motor speed left=87 right=100 (+20.0 ms)
2026-07-02 09:46:13,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.091413] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:13,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.092232] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:13,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.097899] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:13,431 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5300000000000296 deg, practicalMoveTime: 0.056332323782172594 sec
2026-07-02 09:46:13,432 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:46:13,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.099922] moveTile loop end practicalMoveTime=0.056 (+2.0 ms)
2026-07-02 09:46:13,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.100445] moveTile loop start (+0.5 ms)
2026-07-02 09:46:13,442 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:13,448 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:46:13,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.121476] moveTile calculated motor speeds left=87 right=100 gyroSteer=-12.839999999999918 wallSteer=0.0 (+21.0 ms)
2026-07-02 09:46:13,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.147558] moveTile applied motor speed left=87 right=100 (+26.1 ms)
2026-07-02 09:46:13,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.151456] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:13,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.152565] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:13,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.157028] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:46:13,490 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.87 deg, practicalMoveTime: 0.11481219759141739 sec
2026-07-02 09:46:13,491 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.0 ms
2026-07-02 09:46:13,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.158962] moveTile loop end practicalMoveTime=0.115 (+1.9 ms)
2026-07-02 09:46:13,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.159319] moveTile loop start (+0.4 ms)
2026-07-02 09:46:13,500 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:13,507 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.9
2026-07-02 09:46:13,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.182595] moveTile calculated motor speeds left=90 right=100 gyroSteer=-9.799999999999955 wallSteer=0.0 (+23.3 ms)
2026-07-02 09:46:13,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.207840] moveTile applied motor speed left=90 right=100 (+25.2 ms)
2026-07-02 09:46:13,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.213348] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:46:13,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.213907] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:13,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.219430] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:13,553 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.17706624946102323 sec
2026-07-02 09:46:13,554 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.7 ms
2026-07-02 09:46:13,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.222718] moveTile loop end practicalMoveTime=0.177 (+3.3 ms)
2026-07-02 09:46:13,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.223169] moveTile loop start (+0.5 ms)
2026-07-02 09:46:13,562 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:46:13,569 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:46:13,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.245369] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.919999999999959 wallSteer=0.0 (+22.2 ms)
2026-07-02 09:46:13,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.265027] moveTile applied motor speed left=92 right=100 (+19.7 ms)
2026-07-02 09:46:13,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.268695] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:13,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.269274] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:13,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.277004] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:46:13,610 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.23287045915089874 sec
2026-07-02 09:46:13,611 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:46:13,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.278964] moveTile loop end practicalMoveTime=0.233 (+2.0 ms)
2026-07-02 09:46:13,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.279324] moveTile loop start (+0.4 ms)
2026-07-02 09:46:13,618 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:13,624 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.7, S=255.0, V=254.9
2026-07-02 09:46:13,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.298646] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.720000000000027 wallSteer=0.0 (+19.3 ms)
2026-07-02 09:46:13,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.324792] moveTile applied motor speed left=93 right=100 (+26.1 ms)
2026-07-02 09:46:13,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.329849] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:46:13,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.330530] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:13,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.336394] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:13,670 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1400000000000432 deg, practicalMoveTime: 0.2917632486574919 sec
2026-07-02 09:46:13,671 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.2 ms
2026-07-02 09:46:13,671 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.339256] moveTile loop end practicalMoveTime=0.292 (+2.9 ms)
2026-07-02 09:46:13,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.339687] moveTile loop start (+0.4 ms)
2026-07-02 09:46:13,677 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:13,684 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:46:13,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.356246] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.039999999999964 wallSteer=-0.3999999999999986 (+16.6 ms)
2026-07-02 09:46:13,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.376176] moveTile applied motor speed left=92 right=100 (+19.9 ms)
2026-07-02 09:46:13,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.379467] moveTile tile color check tempTileColor=E (+3.3 ms)
2026-07-02 09:46:13,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.379735] moveTile obstacle check escapeFlag=False (+0.3 ms)
2026-07-02 09:46:13,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.393547] moveTile ramp check isBigRamp=False (+13.8 ms)
2026-07-02 09:46:13,726 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6800000000000068 deg, practicalMoveTime: 0.34735663841944686 sec
2026-07-02 09:46:13,727 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:46:13,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.394898] moveTile loop end practicalMoveTime=0.347 (+1.4 ms)
2026-07-02 09:46:13,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.395102] moveTile loop start (+0.2 ms)
2026-07-02 09:46:13,739 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:13,743 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:46:13,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.419631] moveTile calculated motor speeds left=100 right=84 gyroSteer=-3.0 wallSteer=18.799999999999997 (+24.5 ms)
2026-07-02 09:46:13,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.445589] moveTile applied motor speed left=100 right=84 (+26.0 ms)
2026-07-02 09:46:13,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.448883] moveTile tile color check tempTileColor=E (+3.3 ms)
2026-07-02 09:46:13,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.449223] moveTile obstacle check escapeFlag=False (+0.3 ms)
2026-07-02 09:46:13,791 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.458931] moveTile ramp check isBigRamp=False (+9.7 ms)
2026-07-02 09:46:13,792 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.31 deg, practicalMoveTime: 0.41253078323916825 sec
2026-07-02 09:46:13,793 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.4 ms
2026-07-02 09:46:13,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.461020] moveTile loop end practicalMoveTime=0.413 (+2.1 ms)
2026-07-02 09:46:13,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.461377] moveTile loop start (+0.4 ms)
2026-07-02 09:46:13,802 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:13,808 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.9
2026-07-02 09:46:13,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.481542] moveTile calculated motor speeds left=96 right=100 gyroSteer=-2.2799999999999727 wallSteer=-1.1999999999999993 (+20.2 ms)
2026-07-02 09:46:13,833 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.501166] moveTile applied motor speed left=96 right=100 (+19.6 ms)
2026-07-02 09:46:13,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.504773] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:13,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.505284] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:13,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.517348] moveTile ramp check isBigRamp=False (+12.1 ms)
2026-07-02 09:46:13,850 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0400000000000205 deg, practicalMoveTime: 0.47019926603382384 sec
2026-07-02 09:46:13,851 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:46:13,851 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.519327] moveTile loop end practicalMoveTime=0.470 (+2.0 ms)
2026-07-02 09:46:13,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.519760] moveTile loop start (+0.4 ms)
2026-07-02 09:46:13,863 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:13,869 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.9, S=255.0, V=254.9
2026-07-02 09:46:13,875 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.543059] moveTile calculated motor speeds left=90 right=100 gyroSteer=-4.559999999999945 wallSteer=-5.199999999999999 (+23.3 ms)
2026-07-02 09:46:13,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.569606] moveTile applied motor speed left=90 right=100 (+26.5 ms)
2026-07-02 09:46:13,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.573250] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:13,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.573853] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:13,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.583526] moveTile ramp check isBigRamp=False (+9.7 ms)
2026-07-02 09:46:13,917 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.78000000000003 deg, practicalMoveTime: 0.5358509140981701 sec
2026-07-02 09:46:13,917 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.3 ms
2026-07-02 09:46:13,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.585555] moveTile loop end practicalMoveTime=0.536 (+2.0 ms)
2026-07-02 09:46:13,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.585913] moveTile loop start (+0.4 ms)
2026-07-02 09:46:13,923 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:13,929 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:46:13,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.602271] moveTile calculated motor speeds left=91 right=100 gyroSteer=-3.4400000000000546 wallSteer=-4.800000000000001 (+16.4 ms)
2026-07-02 09:46:13,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.621851] moveTile applied motor speed left=91 right=100 (+19.6 ms)
2026-07-02 09:46:13,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.626448] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:13,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.627522] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:13,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.633003] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:13,967 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8400000000000318 deg, practicalMoveTime: 0.5850595114854817 sec
2026-07-02 09:46:13,968 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.4 ms
2026-07-02 09:46:13,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.635982] moveTile loop end practicalMoveTime=0.585 (+3.0 ms)
2026-07-02 09:46:13,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.637016] moveTile loop start (+1.0 ms)
2026-07-02 09:46:13,974 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:13,981 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:46:13,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.655499] moveTile calculated motor speeds left=88 right=100 gyroSteer=-4.079999999999927 wallSteer=-7.199999999999999 (+18.5 ms)
2026-07-02 09:46:14,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.681847] moveTile applied motor speed left=88 right=100 (+26.3 ms)
2026-07-02 09:46:14,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.685609] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:14,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.686416] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:14,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.693745] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:46:14,027 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.98 deg, practicalMoveTime: 0.6447080216454318 sec
2026-07-02 09:46:14,028 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:46:14,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.696761] moveTile loop end practicalMoveTime=0.645 (+3.0 ms)
2026-07-02 09:46:14,029 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.697221] moveTile loop start (+0.5 ms)
2026-07-02 09:46:14,035 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:14,040 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:14,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.712513] moveTile calculated motor speeds left=92 right=100 gyroSteer=-0.2400000000000091 wallSteer=-7.199999999999999 (+15.3 ms)
2026-07-02 09:46:14,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.732350] moveTile applied motor speed left=92 right=100 (+19.8 ms)
2026-07-02 09:46:14,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.736163] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:14,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.736792] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:14,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.744615] moveTile ramp check isBigRamp=False (+7.8 ms)
2026-07-02 09:46:14,078 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7800000000000296 deg, practicalMoveTime: 0.6945204907016082 sec
2026-07-02 09:46:14,079 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.7 ms
2026-07-02 09:46:14,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.748093] moveTile loop end practicalMoveTime=0.695 (+3.5 ms)
2026-07-02 09:46:14,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.748556] moveTile loop start (+0.5 ms)
2026-07-02 09:46:14,089 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:46:14,095 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:14,100 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.768351] moveTile calculated motor speeds left=93 right=100 gyroSteer=0.5599999999999454 wallSteer=-7.199999999999999 (+19.8 ms)
2026-07-02 09:46:14,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.793567] moveTile applied motor speed left=93 right=100 (+25.2 ms)
2026-07-02 09:46:14,129 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.797189] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:14,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.797721] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:14,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.802557] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:14,136 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.68 deg, practicalMoveTime: 0.7509766528706967 sec
2026-07-02 09:46:14,136 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:46:14,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.804640] moveTile loop end practicalMoveTime=0.751 (+2.1 ms)
2026-07-02 09:46:14,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.805010] moveTile loop start (+0.4 ms)
2026-07-02 09:46:14,148 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:14,154 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:46:14,160 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.827704] moveTile calculated motor speeds left=94 right=100 gyroSteer=1.759999999999991 wallSteer=-7.199999999999999 (+22.7 ms)
2026-07-02 09:46:14,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.847135] moveTile applied motor speed left=94 right=100 (+19.4 ms)
2026-07-02 09:46:14,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.850922] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:14,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.851492] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:14,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.856227] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:46:14,189 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.990000000000009 deg, practicalMoveTime: 0.803918928360811 sec
2026-07-02 09:46:14,190 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:46:14,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.858129] moveTile loop end practicalMoveTime=0.804 (+1.9 ms)
2026-07-02 09:46:14,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.858543] moveTile loop start (+0.4 ms)
2026-07-02 09:46:14,202 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:14,209 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.7, S=255.0, V=248.1
2026-07-02 09:46:14,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.881722] moveTile calculated motor speeds left=99 right=100 gyroSteer=5.080000000000041 wallSteer=-5.199999999999999 (+23.2 ms)
2026-07-02 09:46:14,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.908190] moveTile applied motor speed left=99 right=100 (+26.5 ms)
2026-07-02 09:46:14,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.912751] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:14,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.913435] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:14,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.920341] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:46:14,253 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.20577004274393393 CM
2026-07-02 09:46:14,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.941160] moveTile finished by time control (+20.8 ms)
2026-07-02 09:46:14,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.941833] moveTile start final forward adjustment (+21.5 ms)
2026-07-02 09:46:14,304 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.971598] moveTile finished final forward adjustment (+29.8 ms)
2026-07-02 09:46:14,305 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.20577004274393393 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:14,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [207.974981] moveTile updated moved vertical distance 0.206 (+3.4 ms)
2026-07-02 09:46:14,449 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 48.884306388767975 cm
2026-07-02 09:46:14,451 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 46.55762556407601 cm
2026-07-02 09:46:14,452 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 173.19778714026538 cm
2026-07-02 09:46:14,455 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:46:14,457 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.216184240374591 cm
2026-07-02 09:46:14,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [208.125223] moveTile updated map and detected walls (+150.2 ms)
2026-07-02 09:46:14,460 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:14,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [208.129072] moveTile finished (+154.1 ms)
2026-07-02 09:46:14,505 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:46:14,534 - __main__ - [main.py:110] - INFO - Current position: (21, 18, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | @   U | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:14,545 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.EAST. Prioritizing this tile.
2026-07-02 09:46:14,547 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:14,548 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [208.216124] moveTile start direction=absDirection.EAST position=(21, 18, 0) front=absDirection.SOUTH
2026-07-02 09:46:14,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [208.222718] moveTile after initial toggle check (+6.6 ms)
2026-07-02 09:46:14,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [208.224835] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.1 ms)
2026-07-02 09:46:14,557 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (21, 18, 0) facing absDirection.SOUTH
2026-07-02 09:46:14,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [208.225769] moveTile start heading change target=270 (+0.9 ms)
2026-07-02 09:46:14,594 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 181.33 target: 270
2026-07-02 09:46:15,382 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 264.43, diff: 5.569999999999993
2026-07-02 09:46:15,434 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 268.81 deg
2026-07-02 09:46:15,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.102263] moveTile finished heading change (+876.5 ms)
2026-07-02 09:46:15,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.102819] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:46:15,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.103350] moveTile updated front direction (+0.5 ms)
2026-07-02 09:46:15,458 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.125649] moveTile stopped motors before alignment (+22.3 ms)
2026-07-02 09:46:15,601 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 45.15485043859254 cm
2026-07-02 09:46:15,602 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 42.55556164035508 cm
2026-07-02 09:46:15,606 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 156.25858852968787 cm
2026-07-02 09:46:15,608 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 18.71606612145839 cm
2026-07-02 09:46:15,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.276759] moveTile start position adjustment using LiDAR for back wall. (+151.1 ms)
2026-07-02 09:46:15,629 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:15,862 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.529815] moveTile finished backward adjustment (+253.1 ms)
2026-07-02 09:46:15,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.605255] moveTile ready for forward move (+75.4 ms)
2026-07-02 09:46:15,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.637795] moveTile initialized movement targetSteps=1 (+32.5 ms)
2026-07-02 09:46:15,971 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.639097] moveTile loop start (+1.3 ms)
2026-07-02 09:46:15,977 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:15,983 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:46:15,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.657584] moveTile calculated motor speeds left=100 right=90 gyroSteer=9.039999999999964 wallSteer=0.0 (+18.5 ms)
2026-07-02 09:46:16,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.677803] moveTile applied motor speed left=100 right=90 (+20.2 ms)
2026-07-02 09:46:16,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.684345] moveTile tile color check tempTileColor=E (+6.5 ms)
2026-07-02 09:46:16,017 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.684790] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:16,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.691457] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:46:16,024 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.20000000000005 deg, practicalMoveTime: 0.054400862781721876 sec
2026-07-02 09:46:16,025 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:46:16,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.693041] moveTile loop end practicalMoveTime=0.054 (+1.6 ms)
2026-07-02 09:46:16,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.693292] moveTile loop start (+0.3 ms)
2026-07-02 09:46:16,032 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:16,036 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:46:16,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.712182] moveTile calculated motor speeds left=100 right=89 gyroSteer=10.200000000000045 wallSteer=0.0 (+18.9 ms)
2026-07-02 09:46:16,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.732819] moveTile applied motor speed left=100 right=89 (+20.6 ms)
2026-07-02 09:46:16,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.736193] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:46:16,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.736554] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:16,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.742942] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:46:16,076 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.35 deg, practicalMoveTime: 0.10529022655027132 sec
2026-07-02 09:46:16,076 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:46:16,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.744460] moveTile loop end practicalMoveTime=0.105 (+1.5 ms)
2026-07-02 09:46:16,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.744706] moveTile loop start (+0.2 ms)
2026-07-02 09:46:16,082 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:16,087 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=254.9
2026-07-02 09:46:16,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.761545] moveTile calculated motor speeds left=100 right=86 gyroSteer=13.559999999999945 wallSteer=0.0 (+16.8 ms)
2026-07-02 09:46:16,113 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.780853] moveTile applied motor speed left=100 right=86 (+19.3 ms)
2026-07-02 09:46:16,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.784217] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:46:16,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.784590] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:16,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.789587] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:16,123 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.51000000000005 deg, practicalMoveTime: 0.15168120922629946 sec
2026-07-02 09:46:16,123 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 46.4 ms
2026-07-02 09:46:16,124 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.791595] moveTile loop end practicalMoveTime=0.152 (+2.0 ms)
2026-07-02 09:46:16,124 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.792354] moveTile loop start (+0.8 ms)
2026-07-02 09:46:16,133 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:46:16,138 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:46:16,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.812562] moveTile calculated motor speeds left=100 right=86 gyroSteer=13.11999999999989 wallSteer=0.0 (+20.2 ms)
2026-07-02 09:46:16,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.831969] moveTile applied motor speed left=100 right=86 (+19.4 ms)
2026-07-02 09:46:16,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.835374] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:46:16,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.835748] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:16,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.843282] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:46:16,176 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.58000000000004 deg, practicalMoveTime: 0.20443204283722052 sec
2026-07-02 09:46:16,177 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.1 ms
2026-07-02 09:46:16,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.844733] moveTile loop end practicalMoveTime=0.204 (+1.5 ms)
2026-07-02 09:46:16,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.844971] moveTile loop start (+0.2 ms)
2026-07-02 09:46:16,188 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:16,193 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:46:16,202 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.869439] moveTile calculated motor speeds left=100 right=88 gyroSteer=5.880000000000109 wallSteer=5.600000000000001 (+24.5 ms)
2026-07-02 09:46:16,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.889599] moveTile applied motor speed left=100 right=88 (+20.2 ms)
2026-07-02 09:46:16,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.892986] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:46:16,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.893352] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:16,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.898509] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:16,231 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.8 deg, practicalMoveTime: 0.25914544920485594 sec
2026-07-02 09:46:16,232 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:46:16,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.899912] moveTile loop end practicalMoveTime=0.259 (+1.4 ms)
2026-07-02 09:46:16,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.900231] moveTile loop start (+0.3 ms)
2026-07-02 09:46:16,240 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:16,245 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:46:16,256 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.924000] moveTile calculated motor speeds left=100 right=88 gyroSteer=6.079999999999927 wallSteer=5.600000000000001 (+23.8 ms)
2026-07-02 09:46:16,279 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.946414] moveTile applied motor speed left=100 right=88 (+22.4 ms)
2026-07-02 09:46:16,283 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.950570] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:46:16,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.951433] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:16,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.957524] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:46:16,291 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 357.71000000000004 deg, practicalMoveTime: 0.3178472536244704 sec
2026-07-02 09:46:16,291 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:46:16,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.959618] moveTile loop end practicalMoveTime=0.318 (+2.1 ms)
2026-07-02 09:46:16,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.960620] moveTile loop start (+1.0 ms)
2026-07-02 09:46:16,300 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:16,307 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.2, S=255.0, V=255.0
2026-07-02 09:46:16,312 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.980228] moveTile calculated motor speeds left=100 right=90 gyroSteer=3.119999999999891 wallSteer=6.0 (+19.6 ms)
2026-07-02 09:46:16,332 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [209.999858] moveTile applied motor speed left=100 right=90 (+19.6 ms)
2026-07-02 09:46:16,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.006578] moveTile tile color check tempTileColor=E (+6.7 ms)
2026-07-02 09:46:16,339 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.007284] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:16,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.011581] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:16,345 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.19 deg, practicalMoveTime: 0.37121716407941574 sec
2026-07-02 09:46:16,345 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:46:16,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.013495] moveTile loop end practicalMoveTime=0.371 (+1.9 ms)
2026-07-02 09:46:16,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.013864] moveTile loop start (+0.4 ms)
2026-07-02 09:46:16,360 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3210>
2026-07-02 09:46:16,366 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.9, S=255.0, V=255.0
2026-07-02 09:46:16,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.038726] moveTile calculated motor speeds left=100 right=87 gyroSteer=3.9600000000000364 wallSteer=8.399999999999999 (+24.9 ms)
2026-07-02 09:46:16,392 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.059691] moveTile applied motor speed left=100 right=87 (+21.0 ms)
2026-07-02 09:46:16,396 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.063490] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:16,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.064447] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:16,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.070633] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:46:16,404 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.43012889178443164 sec
2026-07-02 09:46:16,406 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:46:16,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.074708] moveTile loop end practicalMoveTime=0.430 (+4.1 ms)
2026-07-02 09:46:16,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.075144] moveTile loop start (+0.4 ms)
2026-07-02 09:46:16,413 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:16,419 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:46:16,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.092167] moveTile calculated motor speeds left=100 right=89 gyroSteer=2.5599999999999454 wallSteer=8.0 (+17.0 ms)
2026-07-02 09:46:16,444 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.112231] moveTile applied motor speed left=100 right=89 (+20.1 ms)
2026-07-02 09:46:16,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.116159] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:16,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.116846] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:16,453 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.121346] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:46:16,454 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.32000000000005 deg, practicalMoveTime: 0.4785261235737091 sec
2026-07-02 09:46:16,455 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.7 ms
2026-07-02 09:46:16,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.123622] moveTile loop end practicalMoveTime=0.479 (+2.3 ms)
2026-07-02 09:46:16,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.124148] moveTile loop start (+0.5 ms)
2026-07-02 09:46:16,462 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:16,469 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.0, S=255.0, V=255.0
2026-07-02 09:46:16,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.142797] moveTile calculated motor speeds left=100 right=95 gyroSteer=0.8800000000001091 wallSteer=3.200000000000003 (+18.6 ms)
2026-07-02 09:46:16,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.168441] moveTile applied motor speed left=100 right=95 (+25.6 ms)
2026-07-02 09:46:16,506 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.173651] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:46:16,506 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.174166] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:16,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.180414] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:46:16,514 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.5373482286576545 sec
2026-07-02 09:46:16,515 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:46:16,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.182871] moveTile loop end practicalMoveTime=0.537 (+2.5 ms)
2026-07-02 09:46:16,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.183237] moveTile loop start (+0.4 ms)
2026-07-02 09:46:16,523 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:46:16,528 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:46:16,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.205143] moveTile calculated motor speeds left=100 right=93 gyroSteer=3.4400000000000546 wallSteer=3.200000000000003 (+21.9 ms)
2026-07-02 09:46:16,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.230841] moveTile applied motor speed left=100 right=93 (+25.7 ms)
2026-07-02 09:46:16,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.235485] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:16,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.236193] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:16,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.241630] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:16,575 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.37 deg, practicalMoveTime: 0.597443720530856 sec
2026-07-02 09:46:16,575 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:46:16,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.244266] moveTile loop end practicalMoveTime=0.597 (+2.6 ms)
2026-07-02 09:46:16,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.244821] moveTile loop start (+0.6 ms)
2026-07-02 09:46:16,585 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:16,591 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.0, S=255.0, V=255.0
2026-07-02 09:46:16,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.265442] moveTile calculated motor speeds left=100 right=96 gyroSteer=-1.759999999999991 wallSteer=4.800000000000001 (+20.6 ms)
2026-07-02 09:46:16,618 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.285409] moveTile applied motor speed left=100 right=96 (+20.0 ms)
2026-07-02 09:46:16,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.289697] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:16,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.290340] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:16,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.296400] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:46:16,630 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.17000000000001592 deg, practicalMoveTime: 0.6515687912769613 sec
2026-07-02 09:46:16,630 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:46:16,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.298409] moveTile loop end practicalMoveTime=0.652 (+2.0 ms)
2026-07-02 09:46:16,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.298773] moveTile loop start (+0.4 ms)
2026-07-02 09:46:16,637 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:16,643 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:46:16,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.315482] moveTile calculated motor speeds left=100 right=96 gyroSteer=-1.4800000000000182 wallSteer=4.800000000000001 (+16.7 ms)
2026-07-02 09:46:16,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.335741] moveTile applied motor speed left=100 right=96 (+20.3 ms)
2026-07-02 09:46:16,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.339527] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:16,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.340205] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:16,677 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.344592] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:46:16,678 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.6990365936888309 sec
2026-07-02 09:46:16,678 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.3 ms
2026-07-02 09:46:16,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.347135] moveTile loop end practicalMoveTime=0.699 (+2.5 ms)
2026-07-02 09:46:16,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.347727] moveTile loop start (+0.6 ms)
2026-07-02 09:46:16,686 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:46:16,693 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.9, S=255.0, V=252.8
2026-07-02 09:46:16,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.369429] moveTile calculated motor speeds left=100 right=99 gyroSteer=-3.400000000000091 wallSteer=4.400000000000002 (+21.7 ms)
2026-07-02 09:46:16,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.391841] moveTile applied motor speed left=100 right=99 (+22.4 ms)
2026-07-02 09:46:16,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.396497] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:46:16,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.397294] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:16,735 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.402941] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:46:16,736 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0900000000000318 deg, practicalMoveTime: 0.7570807741397882 sec
2026-07-02 09:46:16,737 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.0 ms
2026-07-02 09:46:16,737 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.405351] moveTile loop end practicalMoveTime=0.757 (+2.4 ms)
2026-07-02 09:46:16,738 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.405746] moveTile loop start (+0.4 ms)
2026-07-02 09:46:16,745 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:16,751 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.3, S=255.0, V=254.6
2026-07-02 09:46:16,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.425875] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.7999999999999545 wallSteer=4.399999999999999 (+20.1 ms)
2026-07-02 09:46:16,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.445921] moveTile applied motor speed left=100 right=96 (+20.0 ms)
2026-07-02 09:46:16,782 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.449761] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:16,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.451043] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:46:16,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.460640] moveTile ramp check isBigRamp=False (+9.6 ms)
2026-07-02 09:46:16,800 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3300000000000409 deg, practicalMoveTime: 0.8203955923368859 sec
2026-07-02 09:46:16,801 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.2 ms
2026-07-02 09:46:16,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.469713] moveTile loop end practicalMoveTime=0.820 (+9.1 ms)
2026-07-02 09:46:16,803 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.470756] moveTile loop start (+1.0 ms)
2026-07-02 09:46:16,809 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:16,814 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=105.2, S=255.0, V=254.3
2026-07-02 09:46:16,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.488779] moveTile calculated motor speeds left=95 right=100 gyroSteer=-6.440000000000055 wallSteer=1.6000000000000014 (+18.0 ms)
2026-07-02 09:46:16,841 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.508469] moveTile applied motor speed left=95 right=100 (+19.7 ms)
2026-07-02 09:46:16,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.512262] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:16,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.512815] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:16,851 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.518591] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:46:16,853 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.28946066110086893 CM
2026-07-02 09:46:16,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.540341] moveTile finished by time control (+21.8 ms)
2026-07-02 09:46:16,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.541022] moveTile start final forward adjustment (+22.4 ms)
2026-07-02 09:46:16,904 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:46:16,932 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:11.2
2026-07-02 09:46:16,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.623107] moveTile finished final forward adjustment (+82.1 ms)
2026-07-02 09:46:16,956 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.28946066110086893 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:16,957 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.624862] moveTile updated moved vertical distance -0.289 (+1.8 ms)
2026-07-02 09:46:17,105 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 16.038735019295224 cm
2026-07-02 09:46:17,106 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 10.485610114923025 cm
2026-07-02 09:46:17,109 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:46:17,110 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 10.485610114923025 cm, TSD10 distance: 0.0 cm
2026-07-02 09:46:17,112 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 16.077935890495574 cm
2026-07-02 09:46:17,114 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 81.31459750154124 cm
2026-07-02 09:46:17,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.782492] moveTile updated map and detected walls (+157.6 ms)
2026-07-02 09:46:17,117 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:17,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.785772] moveTile finished (+160.9 ms)
2026-07-02 09:46:17,160 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:46:17,190 - __main__ - [main.py:110] - INFO - Current position: (22, 18, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   @ | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:17,202 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 19, 0)
2026-07-02 09:46:17,204 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:17,205 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [210.873039] moveTile start direction=absDirection.WEST position=(22, 18, 0) front=absDirection.EAST
2026-07-02 09:46:17,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.878628] moveTile after initial toggle check (+5.6 ms)
2026-07-02 09:46:17,213 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.880869] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:46:17,213 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (22, 18, 0) facing absDirection.EAST
2026-07-02 09:46:17,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [210.881859] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:46:17,242 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 270.28 target: 0
2026-07-02 09:46:17,943 - mazeUtils.moveTile - [moveTile.py:385] - INFO - Find victim on RIGHT side during turn: UnitVStatus.H_VICTIM
2026-07-02 09:46:23,105 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 316.86 target: 316.86
2026-07-02 09:46:23,127 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 316.86, diff: 0.0
2026-07-02 09:46:23,176 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 316.85 deg
2026-07-02 09:46:24,018 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 317.48 target: 137.48000000000002
2026-07-02 09:46:26,472 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 143.13, diff: 5.649999999999977
2026-07-02 09:46:26,540 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 139.37 deg
2026-07-02 09:46:27,384 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 139.0 target: 316.86
2026-07-02 09:46:31,410 - mazeUtils.moveTile - [moveTile.py:417] - WARNING - Stuck avoidance triggered during turning. Performing escape maneuver.
2026-07-02 09:46:31,897 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 315.87, diff: 0.9900000000000091
2026-07-02 09:46:31,941 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 316.76 deg
2026-07-02 09:46:31,942 - mazeUtils.moveTile - [moveTile.py:397] - INFO - Dropped rescue kit, detected victim info: {<Side.LEFT: 0>: <UnitVStatus.NOTHING: 0>, <Side.RIGHT: 1>: <UnitVStatus.H_VICTIM: 3>}
2026-07-02 09:46:32,457 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 354.84000000000003, diff: 5.159999999999968
2026-07-02 09:46:32,515 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 358.69 deg
2026-07-02 09:46:32,546 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 0.29000000000002046 target: 90
2026-07-02 09:46:33,603 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 84.26999999999998, diff: 5.730000000000018
2026-07-02 09:46:33,671 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 91.13 deg
2026-07-02 09:46:33,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.339643] moveTile finished heading change (+16457.8 ms)
2026-07-02 09:46:33,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.340341] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:46:33,673 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.340831] moveTile updated front direction (+0.5 ms)
2026-07-02 09:46:33,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.361283] moveTile stopped motors before alignment (+20.5 ms)
2026-07-02 09:46:33,851 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.079305403373661 cm
2026-07-02 09:46:33,852 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 22.219686526583942 cm
2026-07-02 09:46:33,853 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 16.88970459538537 cm
2026-07-02 09:46:33,854 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 38.00984746046596 cm
2026-07-02 09:46:33,856 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.523956] moveTile start position adjustment using LiDAR for back wall. (+162.7 ms)
2026-07-02 09:46:33,878 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:34,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.837099] moveTile finished backward adjustment (+313.1 ms)
2026-07-02 09:46:34,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.908969] moveTile ready for forward move (+71.9 ms)
2026-07-02 09:46:34,268 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:46:34,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.937002] moveTile initialized movement targetSteps=1 (+28.0 ms)
2026-07-02 09:46:34,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.938187] moveTile loop start (+1.2 ms)
2026-07-02 09:46:34,280 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:34,286 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=255.0
2026-07-02 09:46:34,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.961150] moveTile calculated motor speeds left=100 right=96 gyroSteer=9.839999999999918 wallSteer=-6.400000000000002 (+23.0 ms)
2026-07-02 09:46:34,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.982339] moveTile applied motor speed left=100 right=96 (+21.2 ms)
2026-07-02 09:46:34,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.988254] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:46:34,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.989247] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:34,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.994707] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:34,328 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8000000000000114 deg, practicalMoveTime: 0.05927604746456563 sec
2026-07-02 09:46:34,329 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:46:34,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.997665] moveTile loop end practicalMoveTime=0.059 (+3.0 ms)
2026-07-02 09:46:34,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [227.998131] moveTile loop start (+0.5 ms)
2026-07-02 09:46:34,344 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3250>
2026-07-02 09:46:34,351 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:46:34,358 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.025746] moveTile calculated motor speeds left=100 right=95 gyroSteer=10.039999999999964 wallSteer=-6.0 (+27.6 ms)
2026-07-02 09:46:34,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.045405] moveTile applied motor speed left=100 right=95 (+19.7 ms)
2026-07-02 09:46:34,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.049918] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:34,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.050695] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:34,387 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.055312] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:34,388 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7100000000000364 deg, practicalMoveTime: 0.11858693639201975 sec
2026-07-02 09:46:34,389 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.7 ms
2026-07-02 09:46:34,390 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.057423] moveTile loop end practicalMoveTime=0.119 (+2.1 ms)
2026-07-02 09:46:34,390 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.057850] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,402 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:34,408 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:46:34,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.084342] moveTile calculated motor speeds left=100 right=93 gyroSteer=12.6400000000001 wallSteer=-6.0 (+26.5 ms)
2026-07-02 09:46:34,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.106165] moveTile applied motor speed left=100 right=93 (+21.8 ms)
2026-07-02 09:46:34,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.110565] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:46:34,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.111281] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:34,448 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.115625] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:34,449 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3300000000000409 deg, practicalMoveTime: 0.1783241047323373 sec
2026-07-02 09:46:34,450 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:46:34,450 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.117953] moveTile loop end practicalMoveTime=0.178 (+2.3 ms)
2026-07-02 09:46:34,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.119423] moveTile loop start (+1.5 ms)
2026-07-02 09:46:34,459 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:46:34,466 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:46:34,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.143044] moveTile calculated motor speeds left=100 right=97 gyroSteer=8.519999999999982 wallSteer=-6.0 (+23.6 ms)
2026-07-02 09:46:34,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.164468] moveTile applied motor speed left=100 right=97 (+21.4 ms)
2026-07-02 09:46:34,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.169888] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:46:34,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.170464] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:34,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.176128] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:34,510 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3799999999999955 deg, practicalMoveTime: 0.23838363183245445 sec
2026-07-02 09:46:34,510 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:46:34,511 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.178609] moveTile loop end practicalMoveTime=0.238 (+2.5 ms)
2026-07-02 09:46:34,511 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.179031] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,518 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:34,523 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:34,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.200476] moveTile calculated motor speeds left=100 right=91 gyroSteer=9.88000000000011 wallSteer=-1.6000000000000014 (+21.4 ms)
2026-07-02 09:46:34,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.222815] moveTile applied motor speed left=100 right=91 (+22.3 ms)
2026-07-02 09:46:34,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.226805] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:34,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.227352] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:34,564 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.231642] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:34,565 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6899999999999977 deg, practicalMoveTime: 0.2927472317293757 sec
2026-07-02 09:46:34,565 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:46:34,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.233757] moveTile loop end practicalMoveTime=0.293 (+2.1 ms)
2026-07-02 09:46:34,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.234264] moveTile loop start (+0.5 ms)
2026-07-02 09:46:34,572 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:46:34,579 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:46:34,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.254450] moveTile calculated motor speeds left=100 right=92 gyroSteer=8.240000000000009 wallSteer=-1.1999999999999993 (+20.2 ms)
2026-07-02 09:46:34,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.278916] moveTile applied motor speed left=100 right=92 (+24.5 ms)
2026-07-02 09:46:34,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.282680] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:34,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.283317] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:34,621 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.288983] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:46:34,622 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.9600000000000364 deg, practicalMoveTime: 0.3494269175785362 sec
2026-07-02 09:46:34,623 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.2 ms
2026-07-02 09:46:34,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.290952] moveTile loop end practicalMoveTime=0.349 (+2.0 ms)
2026-07-02 09:46:34,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.291315] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,631 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:46:34,637 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:34,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.310815] moveTile calculated motor speeds left=100 right=94 gyroSteer=6.079999999999927 wallSteer=-0.7999999999999972 (+19.5 ms)
2026-07-02 09:46:34,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.330835] moveTile applied motor speed left=100 right=94 (+20.0 ms)
2026-07-02 09:46:34,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.337300] moveTile tile color check tempTileColor=E (+6.5 ms)
2026-07-02 09:46:34,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.338093] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:34,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.346533] moveTile ramp check isBigRamp=False (+8.4 ms)
2026-07-02 09:46:34,680 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2300000000000182 deg, practicalMoveTime: 0.40645541914989775 sec
2026-07-02 09:46:34,681 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:46:34,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.349574] moveTile loop end practicalMoveTime=0.406 (+3.0 ms)
2026-07-02 09:46:34,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.349989] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,687 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3210>
2026-07-02 09:46:34,694 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:46:34,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.369237] moveTile calculated motor speeds left=100 right=95 gyroSteer=5.400000000000091 wallSteer=-0.7999999999999972 (+19.2 ms)
2026-07-02 09:46:34,721 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.388902] moveTile applied motor speed left=100 right=95 (+19.7 ms)
2026-07-02 09:46:34,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.396237] moveTile tile color check tempTileColor=E (+7.3 ms)
2026-07-02 09:46:34,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.397082] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:34,738 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.405950] moveTile ramp check isBigRamp=False (+8.9 ms)
2026-07-02 09:46:34,740 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.830000000000041 deg, practicalMoveTime: 0.4649263491511813 sec
2026-07-02 09:46:34,741 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:46:34,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.409178] moveTile loop end practicalMoveTime=0.465 (+3.2 ms)
2026-07-02 09:46:34,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.409594] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,750 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:34,756 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:46:34,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.430400] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.839999999999918 wallSteer=-0.7999999999999972 (+20.8 ms)
2026-07-02 09:46:34,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.450923] moveTile applied motor speed left=100 right=97 (+20.5 ms)
2026-07-02 09:46:34,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.454785] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:34,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.455474] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:34,794 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.461925] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:46:34,796 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3400000000000318 deg, practicalMoveTime: 0.5197254592372829 sec
2026-07-02 09:46:34,797 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:46:34,797 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.465067] moveTile loop end practicalMoveTime=0.520 (+3.1 ms)
2026-07-02 09:46:34,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.465483] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,805 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:34,812 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:34,820 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.487692] moveTile calculated motor speeds left=100 right=92 gyroSteer=1.8399999999999181 wallSteer=5.600000000000001 (+22.2 ms)
2026-07-02 09:46:34,839 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.507240] moveTile applied motor speed left=100 right=92 (+19.5 ms)
2026-07-02 09:46:34,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.511188] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:34,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.511967] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:34,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.517834] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:34,851 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8400000000000318 deg, practicalMoveTime: 0.5739331914509258 sec
2026-07-02 09:46:34,852 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:46:34,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.520651] moveTile loop end practicalMoveTime=0.574 (+2.8 ms)
2026-07-02 09:46:34,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.521076] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,858 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:34,865 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:34,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.539702] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.4800000000000182 wallSteer=0.0 (+18.6 ms)
2026-07-02 09:46:34,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.562656] moveTile applied motor speed left=100 right=99 (+23.0 ms)
2026-07-02 09:46:34,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.568499] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:46:34,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.569388] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:34,907 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.574518] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:34,908 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0300000000000296 deg, practicalMoveTime: 0.6294244926559154 sec
2026-07-02 09:46:34,908 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:46:34,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.576843] moveTile loop end practicalMoveTime=0.629 (+2.3 ms)
2026-07-02 09:46:34,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.577220] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,916 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:34,924 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:46:34,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.598850] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.6400000000001 wallSteer=0.0 (+21.6 ms)
2026-07-02 09:46:34,957 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.625130] moveTile applied motor speed left=100 right=99 (+26.3 ms)
2026-07-02 09:46:34,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.629164] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:34,962 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.629785] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:34,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.634901] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:34,968 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12999999999999545 deg, practicalMoveTime: 0.6889865456101485 sec
2026-07-02 09:46:34,969 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:46:34,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.637037] moveTile loop end practicalMoveTime=0.689 (+2.1 ms)
2026-07-02 09:46:34,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.637413] moveTile loop start (+0.4 ms)
2026-07-02 09:46:34,975 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:46:34,982 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.9
2026-07-02 09:46:34,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.656917] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.599999999999909 wallSteer=0.0 (+19.5 ms)
2026-07-02 09:46:35,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.677297] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:46:35,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.682919] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:46:35,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.683718] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:35,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.689153] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:35,022 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.7424797899756941 sec
2026-07-02 09:46:35,023 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:46:35,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.691206] moveTile loop end practicalMoveTime=0.742 (+2.1 ms)
2026-07-02 09:46:35,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.693062] moveTile loop start (+1.9 ms)
2026-07-02 09:46:35,032 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:46:35,039 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:46:35,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.712463] moveTile calculated motor speeds left=100 right=98 gyroSteer=1.7200000000000273 wallSteer=0.0 (+19.4 ms)
2026-07-02 09:46:35,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.732920] moveTile applied motor speed left=100 right=98 (+20.5 ms)
2026-07-02 09:46:35,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.738015] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:46:35,071 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.738711] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:35,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.745269] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:46:35,078 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7900000000000205 deg, practicalMoveTime: 0.7979170915575493 sec
2026-07-02 09:46:35,079 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.7 ms
2026-07-02 09:46:35,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.747859] moveTile loop end practicalMoveTime=0.798 (+2.6 ms)
2026-07-02 09:46:35,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.748488] moveTile loop start (+0.6 ms)
2026-07-02 09:46:35,088 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c30d0>
2026-07-02 09:46:35,095 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:35,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.770604] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.6399999999998727 wallSteer=0.0 (+22.1 ms)
2026-07-02 09:46:35,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.790792] moveTile applied motor speed left=97 right=100 (+20.2 ms)
2026-07-02 09:46:35,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.794391] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:46:35,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.794949] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:35,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.801703] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:46:35,135 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2600000000000477 deg, practicalMoveTime: 0.8536837765073938 sec
2026-07-02 09:46:35,135 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:46:35,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.803707] moveTile loop end practicalMoveTime=0.854 (+2.0 ms)
2026-07-02 09:46:35,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.804237] moveTile loop start (+0.5 ms)
2026-07-02 09:46:35,142 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:35,149 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.7, S=255.0, V=251.5
2026-07-02 09:46:35,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.823689] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.2400000000000091 wallSteer=0.0 (+19.5 ms)
2026-07-02 09:46:35,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.845113] moveTile applied motor speed left=100 right=99 (+21.4 ms)
2026-07-02 09:46:35,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.849207] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:46:35,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.849844] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:35,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.858081] moveTile ramp check isBigRamp=False (+8.2 ms)
2026-07-02 09:46:35,191 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.6007020730523155 CM
2026-07-02 09:46:35,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.880220] moveTile finished by time control (+22.1 ms)
2026-07-02 09:46:35,213 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.880910] moveTile start final forward adjustment (+22.8 ms)
2026-07-02 09:46:35,243 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:46:35,260 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:13.2
2026-07-02 09:46:35,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [228.952208] moveTile finished final forward adjustment (+71.3 ms)
2026-07-02 09:46:35,435 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 45.270292352444926 cm
2026-07-02 09:46:35,436 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 50.517919977975346 cm
2026-07-02 09:46:35,437 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 77.94960518281881 cm
2026-07-02 09:46:35,438 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 12.482869184432174 cm
2026-07-02 09:46:35,440 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 12.482869184432174 cm, TSD10 distance: 2.7 cm
2026-07-02 09:46:35,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [229.108900] moveTile updated map and detected walls (+156.7 ms)
2026-07-02 09:46:35,443 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:35,444 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [229.111952] moveTile finished (+159.7 ms)
2026-07-02 09:46:35,485 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 1)
2026-07-02 09:46:35,512 - __main__ - [main.py:110] - INFO - Current position: (21, 18, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | @   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | U | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:35,521 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [229.189279] moveTile start direction=absDirection.SOUTH position=(21, 18, 0) front=absDirection.WEST
2026-07-02 09:46:35,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [229.196146] moveTile after initial toggle check (+6.9 ms)
2026-07-02 09:46:35,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [229.200252] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+4.1 ms)
2026-07-02 09:46:35,533 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 18, 0) facing absDirection.WEST
2026-07-02 09:46:35,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [229.201452] moveTile start heading change target=180 (+1.2 ms)
2026-07-02 09:46:35,561 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 90.00999999999999 target: 180
2026-07-02 09:46:36,380 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 174.71, diff: 5.289999999999992
2026-07-02 09:46:36,439 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.53 deg
2026-07-02 09:46:36,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [230.108128] moveTile finished heading change (+906.7 ms)
2026-07-02 09:46:36,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [230.108706] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:46:36,441 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:46:37,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.133953] moveTile updated front direction (+1025.2 ms)
2026-07-02 09:46:37,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.152655] moveTile stopped motors before alignment (+18.7 ms)
2026-07-02 09:46:37,641 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 50.83737293530337 cm
2026-07-02 09:46:37,642 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 46.38078066420722 cm
2026-07-02 09:46:37,643 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 76.0520022258256 cm
2026-07-02 09:46:37,645 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.11125546372602 cm
2026-07-02 09:46:37,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.313753] moveTile start position adjustment using LiDAR for back wall. (+161.1 ms)
2026-07-02 09:46:37,666 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:37,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.514018] moveTile finished backward adjustment (+200.3 ms)
2026-07-02 09:46:37,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.589185] moveTile ready for forward move (+75.2 ms)
2026-07-02 09:46:37,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.622401] moveTile initialized movement targetSteps=1 (+33.2 ms)
2026-07-02 09:46:37,956 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.623849] moveTile loop start (+1.4 ms)
2026-07-02 09:46:37,967 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:37,974 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=110.1, S=254.9, V=234.2
2026-07-02 09:46:37,980 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.647500] moveTile calculated motor speeds left=100 right=79 gyroSteer=20.32000000000005 wallSteer=0.0 (+23.7 ms)
2026-07-02 09:46:38,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.670423] moveTile applied motor speed left=100 right=79 (+22.9 ms)
2026-07-02 09:46:38,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.674719] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:38,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.675604] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:38,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.686374] moveTile ramp check isBigRamp=False (+10.8 ms)
2026-07-02 09:46:38,020 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.08000000000004093 deg, practicalMoveTime: 0.06525915460284977 sec
2026-07-02 09:46:38,021 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.8 ms
2026-07-02 09:46:38,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.689126] moveTile loop end practicalMoveTime=0.065 (+2.8 ms)
2026-07-02 09:46:38,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.689401] moveTile loop start (+0.3 ms)
2026-07-02 09:46:38,031 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:38,037 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=115.5, S=254.9, V=225.0
2026-07-02 09:46:38,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.710044] moveTile calculated motor speeds left=100 right=77 gyroSteer=22.039999999999964 wallSteer=0.0 (+20.6 ms)
2026-07-02 09:46:38,062 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.729972] moveTile applied motor speed left=100 right=77 (+19.9 ms)
2026-07-02 09:46:38,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.733450] moveTile tile color check tempTileColor=E (+3.5 ms)
2026-07-02 09:46:38,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.733863] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:46:38,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.742461] moveTile ramp check isBigRamp=False (+8.6 ms)
2026-07-02 09:46:38,075 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.18 deg, practicalMoveTime: 0.11974604759667483 sec
2026-07-02 09:46:38,076 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:46:38,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.744117] moveTile loop end practicalMoveTime=0.120 (+1.7 ms)
2026-07-02 09:46:38,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.744376] moveTile loop start (+0.3 ms)
2026-07-02 09:46:38,082 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:38,086 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=217.1
2026-07-02 09:46:38,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.758313] moveTile calculated motor speeds left=100 right=73 gyroSteer=26.08000000000004 wallSteer=0.0 (+13.9 ms)
2026-07-02 09:46:38,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.784119] moveTile applied motor speed left=100 right=73 (+25.8 ms)
2026-07-02 09:46:38,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.787948] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:38,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.788501] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:38,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.793497] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:38,126 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.17002356558181625 sec
2026-07-02 09:46:38,126 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.9 ms
2026-07-02 09:46:38,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.794610] moveTile loop end practicalMoveTime=0.170 (+1.1 ms)
2026-07-02 09:46:38,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.794823] moveTile loop start (+0.2 ms)
2026-07-02 09:46:38,138 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:38,142 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=214.9
2026-07-02 09:46:38,148 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.815881] moveTile calculated motor speeds left=100 right=84 gyroSteer=18.24000000000001 wallSteer=-2.3999999999999986 (+21.1 ms)
2026-07-02 09:46:38,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.835782] moveTile applied motor speed left=100 right=84 (+19.9 ms)
2026-07-02 09:46:38,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.839760] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:38,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.840324] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:38,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.848210] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:46:38,183 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1500000000000341 deg, practicalMoveTime: 0.22678630478949932 sec
2026-07-02 09:46:38,185 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:46:38,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.852903] moveTile loop end practicalMoveTime=0.227 (+4.7 ms)
2026-07-02 09:46:38,185 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.853279] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,197 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d5b0d10>
2026-07-02 09:46:38,204 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=215.1
2026-07-02 09:46:38,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.877009] moveTile calculated motor speeds left=100 right=89 gyroSteer=14.559999999999945 wallSteer=-3.6000000000000014 (+23.7 ms)
2026-07-02 09:46:38,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.902999] moveTile applied motor speed left=100 right=89 (+26.0 ms)
2026-07-02 09:46:38,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.907670] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:46:38,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.908829] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:46:38,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.913496] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:46:38,247 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.10000000000002274 deg, practicalMoveTime: 0.28877670986905324 sec
2026-07-02 09:46:38,247 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.6 ms
2026-07-02 09:46:38,247 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.915412] moveTile loop end practicalMoveTime=0.289 (+1.9 ms)
2026-07-02 09:46:38,248 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.915771] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,255 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:38,261 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=215.7
2026-07-02 09:46:38,271 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.938533] moveTile calculated motor speeds left=100 right=90 gyroSteer=12.88000000000011 wallSteer=-3.6000000000000014 (+22.8 ms)
2026-07-02 09:46:38,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.966344] moveTile applied motor speed left=100 right=90 (+27.8 ms)
2026-07-02 09:46:38,303 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.970933] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:38,304 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.971536] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:38,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.978689] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:46:38,312 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.85 deg, practicalMoveTime: 0.3535738892402089 sec
2026-07-02 09:46:38,314 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.5 ms
2026-07-02 09:46:38,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.982077] moveTile loop end practicalMoveTime=0.354 (+3.4 ms)
2026-07-02 09:46:38,315 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [231.982495] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,322 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d5b0d10>
2026-07-02 09:46:38,328 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=217.3
2026-07-02 09:46:38,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.002418] moveTile calculated motor speeds left=100 right=89 gyroSteer=11.600000000000023 wallSteer=-1.1999999999999993 (+19.9 ms)
2026-07-02 09:46:38,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.022290] moveTile applied motor speed left=100 right=89 (+19.9 ms)
2026-07-02 09:46:38,358 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.026192] moveTile tile color check tempTileColor=L (+3.9 ms)
2026-07-02 09:46:38,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.026985] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:38,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.032330] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:46:38,365 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.96000000000004 deg, practicalMoveTime: 0.40539415477964647 sec
2026-07-02 09:46:38,366 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:46:38,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.034217] moveTile loop end practicalMoveTime=0.405 (+1.9 ms)
2026-07-02 09:46:38,367 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.034572] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,376 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:38,382 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=216.6
2026-07-02 09:46:38,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.054314] moveTile calculated motor speeds left=100 right=96 gyroSteer=7.080000000000041 wallSteer=-3.6000000000000014 (+19.7 ms)
2026-07-02 09:46:38,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.075012] moveTile applied motor speed left=100 right=96 (+20.7 ms)
2026-07-02 09:46:38,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.078943] moveTile tile color check tempTileColor=L (+3.9 ms)
2026-07-02 09:46:38,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.079625] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:38,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.086748] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:46:38,420 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.88 deg, practicalMoveTime: 0.45931484911306586 sec
2026-07-02 09:46:38,421 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:46:38,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.089055] moveTile loop end practicalMoveTime=0.459 (+2.3 ms)
2026-07-02 09:46:38,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.089428] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,427 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:38,434 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=218.9
2026-07-02 09:46:38,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.108314] moveTile calculated motor speeds left=100 right=91 gyroSteer=3.3600000000000136 wallSteer=5.600000000000001 (+18.9 ms)
2026-07-02 09:46:38,461 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.128422] moveTile applied motor speed left=100 right=91 (+20.1 ms)
2026-07-02 09:46:38,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.132254] moveTile tile color check tempTileColor=L (+3.8 ms)
2026-07-02 09:46:38,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.132843] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:38,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.137939] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:38,472 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4800000000000182 deg, practicalMoveTime: 0.510262157901241 sec
2026-07-02 09:46:38,473 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:46:38,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.141485] moveTile loop end practicalMoveTime=0.510 (+3.5 ms)
2026-07-02 09:46:38,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.141901] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,482 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3250>
2026-07-02 09:46:38,490 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=216.3
2026-07-02 09:46:38,498 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.165482] moveTile calculated motor speeds left=100 right=89 gyroSteer=4.0 wallSteer=6.800000000000001 (+23.6 ms)
2026-07-02 09:46:38,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.185321] moveTile applied motor speed left=100 right=89 (+19.8 ms)
2026-07-02 09:46:38,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.189366] moveTile tile color check tempTileColor=L (+4.0 ms)
2026-07-02 09:46:38,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.190177] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:38,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.194363] moveTile ramp check isBigRamp=False (+4.2 ms)
2026-07-02 09:46:38,528 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.33000000000004 deg, practicalMoveTime: 0.5652751524303163 sec
2026-07-02 09:46:38,529 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:46:38,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.197561] moveTile loop end practicalMoveTime=0.565 (+3.2 ms)
2026-07-02 09:46:38,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.197935] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,538 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d5b0d10>
2026-07-02 09:46:38,545 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=219.4
2026-07-02 09:46:38,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.217659] moveTile calculated motor speeds left=100 right=93 gyroSteer=-0.03999999999996362 wallSteer=6.400000000000002 (+19.7 ms)
2026-07-02 09:46:38,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.244246] moveTile applied motor speed left=100 right=93 (+26.6 ms)
2026-07-02 09:46:38,580 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.247897] moveTile tile color check tempTileColor=L (+3.7 ms)
2026-07-02 09:46:38,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.248583] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:38,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.257098] moveTile ramp check isBigRamp=False (+8.5 ms)
2026-07-02 09:46:38,590 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9000000000000341 deg, practicalMoveTime: 0.6262541475346958 sec
2026-07-02 09:46:38,591 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.7 ms
2026-07-02 09:46:38,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.259181] moveTile loop end practicalMoveTime=0.626 (+2.1 ms)
2026-07-02 09:46:38,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.259578] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,598 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:38,604 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=216.0
2026-07-02 09:46:38,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.276336] moveTile calculated motor speeds left=100 right=93 gyroSteer=0.6800000000000637 wallSteer=6.0 (+16.8 ms)
2026-07-02 09:46:38,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.296249] moveTile applied motor speed left=100 right=93 (+19.9 ms)
2026-07-02 09:46:38,632 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.300067] moveTile tile color check tempTileColor=L (+3.8 ms)
2026-07-02 09:46:38,634 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.301770] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:46:38,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.306406] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:38,639 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1400000000000432 deg, practicalMoveTime: 0.6747701145036202 sec
2026-07-02 09:46:38,640 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.3 ms
2026-07-02 09:46:38,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.308451] moveTile loop end practicalMoveTime=0.675 (+2.0 ms)
2026-07-02 09:46:38,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.308824] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,648 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:38,653 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=218.1
2026-07-02 09:46:38,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.326623] moveTile calculated motor speeds left=100 right=99 gyroSteer=-0.2400000000000091 wallSteer=1.1999999999999993 (+17.8 ms)
2026-07-02 09:46:38,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.347025] moveTile applied motor speed left=100 right=99 (+20.4 ms)
2026-07-02 09:46:38,683 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.351124] moveTile tile color check tempTileColor=L (+4.1 ms)
2026-07-02 09:46:38,684 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.351737] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:38,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.358901] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:46:38,692 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.7266725692902715 sec
2026-07-02 09:46:38,693 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:46:38,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.360950] moveTile loop end practicalMoveTime=0.727 (+2.0 ms)
2026-07-02 09:46:38,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.361308] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,698 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:46:38,704 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=219.3
2026-07-02 09:46:38,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.380245] moveTile calculated motor speeds left=100 right=92 gyroSteer=1.080000000000041 wallSteer=6.0 (+18.9 ms)
2026-07-02 09:46:38,741 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.408462] moveTile applied motor speed left=100 right=92 (+28.2 ms)
2026-07-02 09:46:38,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.412178] moveTile tile color check tempTileColor=L (+3.7 ms)
2026-07-02 09:46:38,745 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.412758] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:38,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.416481] moveTile ramp check isBigRamp=False (+3.7 ms)
2026-07-02 09:46:38,750 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6100000000000136 deg, practicalMoveTime: 0.7837305308041176 sec
2026-07-02 09:46:38,751 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:46:38,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.419507] moveTile loop end practicalMoveTime=0.784 (+3.0 ms)
2026-07-02 09:46:38,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.419919] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,759 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:38,765 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=218.7
2026-07-02 09:46:38,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.441304] moveTile calculated motor speeds left=100 right=90 gyroSteer=4.0 wallSteer=6.0 (+21.4 ms)
2026-07-02 09:46:38,793 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.461008] moveTile applied motor speed left=100 right=90 (+19.7 ms)
2026-07-02 09:46:38,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.465748] moveTile tile color check tempTileColor=L (+4.7 ms)
2026-07-02 09:46:38,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.466639] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:38,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.474312] moveTile ramp check isBigRamp=False (+7.7 ms)
2026-07-02 09:46:38,808 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.24 deg, practicalMoveTime: 0.8401272986024408 sec
2026-07-02 09:46:38,809 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:46:38,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.477048] moveTile loop end practicalMoveTime=0.840 (+2.7 ms)
2026-07-02 09:46:38,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.477484] moveTile loop start (+0.4 ms)
2026-07-02 09:46:38,821 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:38,828 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=120.0, S=255.0, V=222.1
2026-07-02 09:46:38,835 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.502543] moveTile calculated motor speeds left=100 right=88 gyroSteer=5.880000000000109 wallSteer=5.600000000000001 (+25.1 ms)
2026-07-02 09:46:38,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.526035] moveTile applied motor speed left=100 right=88 (+23.5 ms)
2026-07-02 09:46:38,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.532319] moveTile tile color check tempTileColor=L (+6.3 ms)
2026-07-02 09:46:38,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.533018] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:38,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.538019] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:38,871 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.030593379628053124 CM
2026-07-02 09:46:38,890 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.558052] moveTile finished by time control (+20.0 ms)
2026-07-02 09:46:38,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.558747] moveTile start final forward adjustment (+20.7 ms)
2026-07-02 09:46:38,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.587859] moveTile finished final forward adjustment (+29.1 ms)
2026-07-02 09:46:38,921 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.030593379628053124 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:38,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.589579] moveTile updated moved vertical distance -0.031 (+1.7 ms)
2026-07-02 09:46:39,065 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 78.15399479116587 cm
2026-07-02 09:46:39,066 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 14.863704919682108 cm
2026-07-02 09:46:39,067 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 46.47716676917401 cm
2026-07-02 09:46:39,070 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:46:39,071 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.437575367237493 cm
2026-07-02 09:46:39,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [232.740441] moveTile updated map and detected walls (+150.9 ms)
2026-07-02 09:46:39,076 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: L
2026-07-02 09:46:44,285 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (21, 19, 0), Tile type: L, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:46:44,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [237.953389] moveTile finished (+5363.8 ms)
2026-07-02 09:46:44,325 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 2)
2026-07-02 09:46:44,356 - __main__ - [main.py:110] - INFO - Current position: (21, 19, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | @ | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:44,365 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (23, 21, 0)
2026-07-02 09:46:44,367 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:44,368 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [238.035824] moveTile start direction=absDirection.SOUTH position=(21, 19, 0) front=absDirection.SOUTH
2026-07-02 09:46:44,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.042658] moveTile after initial toggle check (+6.8 ms)
2026-07-02 09:46:44,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.045571] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.9 ms)
2026-07-02 09:46:44,378 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 19, 0) facing absDirection.SOUTH
2026-07-02 09:46:44,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.046591] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:46:44,404 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 178.35000000000002 target: 180
2026-07-02 09:46:44,425 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 178.35000000000002, diff: 1.6499999999999773
2026-07-02 09:46:44,474 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 178.46 deg
2026-07-02 09:46:44,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.142263] moveTile finished heading change (+95.7 ms)
2026-07-02 09:46:44,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.142694] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:46:44,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.143124] moveTile updated front direction (+0.4 ms)
2026-07-02 09:46:44,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.163861] moveTile stopped motors before alignment (+20.7 ms)
2026-07-02 09:46:44,647 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 77.76273425833756 cm
2026-07-02 09:46:44,649 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 14.800000190734863 cm
2026-07-02 09:46:44,650 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 46.08904699810983 cm
2026-07-02 09:46:44,654 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 16.48994864581508 cm
2026-07-02 09:46:44,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.322456] moveTile start position adjustment using LiDAR for front wall. (+158.6 ms)
2026-07-02 09:46:44,675 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:44,913 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.580589] moveTile finished backward adjustment (+258.1 ms)
2026-07-02 09:46:44,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.653107] moveTile ready for forward move (+72.5 ms)
2026-07-02 09:46:45,016 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:46:45,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.684216] moveTile initialized movement targetSteps=1 (+31.1 ms)
2026-07-02 09:46:45,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.685422] moveTile loop start (+1.2 ms)
2026-07-02 09:46:45,028 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c30d0>
2026-07-02 09:46:45,033 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:46:45,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.708299] moveTile calculated motor speeds left=100 right=97 gyroSteer=-4.039999999999964 wallSteer=6.400000000000002 (+22.9 ms)
2026-07-02 09:46:45,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.728546] moveTile applied motor speed left=100 right=97 (+20.2 ms)
2026-07-02 09:46:45,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.732589] moveTile tile color check tempTileColor=L (+4.0 ms)
2026-07-02 09:46:45,065 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.733255] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:45,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.738242] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:45,071 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.88 deg, practicalMoveTime: 0.05565917205397053 sec
2026-07-02 09:46:45,072 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:46:45,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.740314] moveTile loop end practicalMoveTime=0.056 (+2.1 ms)
2026-07-02 09:46:45,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.740689] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,081 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3010>
2026-07-02 09:46:45,087 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:46:45,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.761214] moveTile calculated motor speeds left=100 right=96 gyroSteer=-3.2000000000000455 wallSteer=6.400000000000002 (+20.5 ms)
2026-07-02 09:46:45,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.786481] moveTile applied motor speed left=100 right=96 (+25.3 ms)
2026-07-02 09:46:45,124 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.791443] moveTile tile color check tempTileColor=L (+5.0 ms)
2026-07-02 09:46:45,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.792952] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:46:45,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.798992] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:46:45,132 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.39000000000004 deg, practicalMoveTime: 0.11571793814712403 sec
2026-07-02 09:46:45,133 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:46:45,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.801424] moveTile loop end practicalMoveTime=0.116 (+2.4 ms)
2026-07-02 09:46:45,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.802405] moveTile loop start (+1.0 ms)
2026-07-02 09:46:45,142 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:45,147 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:46:45,155 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.822728] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.2000000000000455 wallSteer=2.0 (+20.3 ms)
2026-07-02 09:46:45,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.850329] moveTile applied motor speed left=100 right=96 (+27.6 ms)
2026-07-02 09:46:45,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.855581] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:46:45,188 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.856263] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:45,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.859866] moveTile ramp check isBigRamp=False (+3.6 ms)
2026-07-02 09:46:45,193 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.27000000000004 deg, practicalMoveTime: 0.17640627603365203 sec
2026-07-02 09:46:45,194 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.4 ms
2026-07-02 09:46:45,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.862320] moveTile loop end practicalMoveTime=0.176 (+2.5 ms)
2026-07-02 09:46:45,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.862686] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,201 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0090>
2026-07-02 09:46:45,207 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:46:45,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.879644] moveTile calculated motor speeds left=100 right=93 gyroSteer=0.0 wallSteer=6.800000000000001 (+17.0 ms)
2026-07-02 09:46:45,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.900291] moveTile applied motor speed left=100 right=93 (+20.6 ms)
2026-07-02 09:46:45,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.904498] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:46:45,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.905081] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:45,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.909364] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:45,242 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.22475649850938653 sec
2026-07-02 09:46:45,243 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.2 ms
2026-07-02 09:46:45,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.912364] moveTile loop end practicalMoveTime=0.225 (+3.0 ms)
2026-07-02 09:46:45,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.912823] moveTile loop start (+0.5 ms)
2026-07-02 09:46:45,255 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:45,261 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:45,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.935537] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.2799999999999727 wallSteer=2.3999999999999986 (+22.7 ms)
2026-07-02 09:46:45,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.954245] moveTile applied motor speed left=100 right=96 (+18.7 ms)
2026-07-02 09:46:45,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.957932] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:45,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.958570] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:45,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.963786] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:45,297 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.74 deg, practicalMoveTime: 0.2785416890435938 sec
2026-07-02 09:46:45,297 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:46:45,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.965756] moveTile loop end practicalMoveTime=0.279 (+2.0 ms)
2026-07-02 09:46:45,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.966115] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,306 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2fd0>
2026-07-02 09:46:45,312 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:45,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [238.991246] moveTile calculated motor speeds left=100 right=97 gyroSteer=-0.35999999999989996 wallSteer=2.3999999999999986 (+25.1 ms)
2026-07-02 09:46:45,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.019108] moveTile applied motor speed left=100 right=97 (+27.9 ms)
2026-07-02 09:46:45,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.022842] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:45,356 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.023695] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:45,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.029946] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:46:45,363 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.35000000000002274 deg, practicalMoveTime: 0.3440507397484486 sec
2026-07-02 09:46:45,364 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.8 ms
2026-07-02 09:46:45,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.032831] moveTile loop end practicalMoveTime=0.344 (+2.9 ms)
2026-07-02 09:46:45,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.033324] moveTile loop start (+0.5 ms)
2026-07-02 09:46:45,371 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:45,378 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:46:45,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.052316] moveTile calculated motor speeds left=98 right=100 gyroSteer=-3.67999999999995 wallSteer=2.3999999999999986 (+19.0 ms)
2026-07-02 09:46:45,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.071619] moveTile applied motor speed left=98 right=100 (+19.3 ms)
2026-07-02 09:46:45,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.075360] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:45,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.075982] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:45,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.081154] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:45,414 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.020000000000038654 deg, practicalMoveTime: 0.39409527329013727 sec
2026-07-02 09:46:45,415 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.3 ms
2026-07-02 09:46:45,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.083109] moveTile loop end practicalMoveTime=0.394 (+2.0 ms)
2026-07-02 09:46:45,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.083483] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,424 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d5b0d10>
2026-07-02 09:46:45,432 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:46:45,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.107295] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.119999999999891 wallSteer=0.0 (+23.8 ms)
2026-07-02 09:46:45,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.127492] moveTile applied motor speed left=92 right=100 (+20.2 ms)
2026-07-02 09:46:45,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.131630] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:46:45,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.132422] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:45,471 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.139063] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:46:45,472 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8600000000000136 deg, practicalMoveTime: 0.4514339655234103 sec
2026-07-02 09:46:45,473 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:46:45,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.141201] moveTile loop end practicalMoveTime=0.451 (+2.1 ms)
2026-07-02 09:46:45,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.141622] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,484 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:45,490 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:45,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.163619] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.919999999999959 wallSteer=0.0 (+22.0 ms)
2026-07-02 09:46:45,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.189903] moveTile applied motor speed left=94 right=100 (+26.3 ms)
2026-07-02 09:46:45,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.193774] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:45,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.194419] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:45,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.198774] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:46:45,532 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.65000000000003 deg, practicalMoveTime: 0.5109038430594954 sec
2026-07-02 09:46:45,534 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.7 ms
2026-07-02 09:46:45,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.201905] moveTile loop end practicalMoveTime=0.511 (+3.1 ms)
2026-07-02 09:46:45,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.202315] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,540 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d5b0d10>
2026-07-02 09:46:45,547 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:45,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.223458] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.3199999999999363 wallSteer=0.0 (+21.1 ms)
2026-07-02 09:46:45,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.251141] moveTile applied motor speed left=97 right=100 (+27.7 ms)
2026-07-02 09:46:45,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.255125] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:45,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.255937] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:45,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.262945] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:46:45,596 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9399999999999977 deg, practicalMoveTime: 0.5735804199185749 sec
2026-07-02 09:46:45,598 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.2 ms
2026-07-02 09:46:45,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.266144] moveTile loop end practicalMoveTime=0.574 (+3.2 ms)
2026-07-02 09:46:45,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.266553] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,603 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:45,610 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.7, S=255.0, V=254.9
2026-07-02 09:46:45,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.284155] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.32000000000005 wallSteer=0.0 (+17.6 ms)
2026-07-02 09:46:45,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.304684] moveTile applied motor speed left=100 right=99 (+20.5 ms)
2026-07-02 09:46:45,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.308344] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:45,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.308999] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:45,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.314151] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:45,647 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.6230424369976147 sec
2026-07-02 09:46:45,648 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.1 ms
2026-07-02 09:46:45,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.316275] moveTile loop end practicalMoveTime=0.623 (+2.1 ms)
2026-07-02 09:46:45,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.316653] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,657 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:45,664 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:45,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.336879] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.3600000000000136 wallSteer=0.0 (+20.2 ms)
2026-07-02 09:46:45,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.363261] moveTile applied motor speed left=100 right=97 (+26.4 ms)
2026-07-02 09:46:45,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.369105] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:46:45,703 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.370815] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:46:45,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.376342] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:45,709 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.75 deg, practicalMoveTime: 0.684572210587246 sec
2026-07-02 09:46:45,711 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.8 ms
2026-07-02 09:46:45,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.379327] moveTile loop end practicalMoveTime=0.685 (+3.0 ms)
2026-07-02 09:46:45,712 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.379800] moveTile loop start (+0.5 ms)
2026-07-02 09:46:45,725 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:45,732 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:46:45,738 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.405536] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.480000000000018 wallSteer=0.0 (+25.7 ms)
2026-07-02 09:46:45,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.432317] moveTile applied motor speed left=97 right=100 (+26.8 ms)
2026-07-02 09:46:45,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.436428] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:46:45,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.437003] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:45,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.442597] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:46:45,776 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.27000000000004 deg, practicalMoveTime: 0.7500056467087837 sec
2026-07-02 09:46:45,777 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.0 ms
2026-07-02 09:46:45,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.445401] moveTile loop end practicalMoveTime=0.750 (+2.8 ms)
2026-07-02 09:46:45,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.445810] moveTile loop start (+0.4 ms)
2026-07-02 09:46:45,786 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:45,792 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.8
2026-07-02 09:46:45,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.473683] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.7599999999999909 wallSteer=0.0 (+27.9 ms)
2026-07-02 09:46:45,833 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.500935] moveTile applied motor speed left=99 right=100 (+27.3 ms)
2026-07-02 09:46:45,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.505972] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:46:45,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.507721] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:46:45,847 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.514865] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:46:45,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.551727] moveTile finished by front distance control. Tof: 14.6, TSD10 : 6.9 (+36.9 ms)
2026-07-02 09:46:45,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.552467] moveTile start final forward adjustment (+37.6 ms)
2026-07-02 09:46:45,913 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:46:45,978 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.4
2026-07-02 09:46:45,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.666666] moveTile finished final forward adjustment (+114.2 ms)
2026-07-02 09:46:46,166 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 112.38097417661488 cm
2026-07-02 09:46:46,167 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 76.15077708825635 cm
2026-07-02 09:46:46,168 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 11.492994510719601 cm
2026-07-02 09:46:46,171 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 11.492994510719601 cm, TSD10 distance: 2.6 cm
2026-07-02 09:46:46,173 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 46.768254746779924 cm
2026-07-02 09:46:46,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.841822] moveTile updated map and detected walls (+175.2 ms)
2026-07-02 09:46:46,176 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:46,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.845032] moveTile finished (+178.4 ms)
2026-07-02 09:46:46,218 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:46:46,236 - __main__ - [main.py:110] - INFO - Current position: (21, 20, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   @   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:46,243 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [239.911395] moveTile start direction=absDirection.EAST position=(21, 20, 0) front=absDirection.SOUTH
2026-07-02 09:46:46,251 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.919165] moveTile after initial toggle check (+7.8 ms)
2026-07-02 09:46:46,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.921384] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:46:46,254 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (21, 20, 0) facing absDirection.SOUTH
2026-07-02 09:46:46,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [239.922478] moveTile start heading change target=270 (+1.1 ms)
2026-07-02 09:46:46,290 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 180.7 target: 270
2026-07-02 09:46:47,087 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 264.22, diff: 5.779999999999973
2026-07-02 09:46:47,137 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 268.06 deg
2026-07-02 09:46:47,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [240.805193] moveTile finished heading change (+882.7 ms)
2026-07-02 09:46:47,138 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [240.805694] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:46:47,138 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:46:48,160 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [241.827521] moveTile updated front direction (+1021.8 ms)
2026-07-02 09:46:48,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [241.850004] moveTile stopped motors before alignment (+22.5 ms)
2026-07-02 09:46:48,328 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 106.16227126662389 cm
2026-07-02 09:46:48,329 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 69.93755345246711 cm
2026-07-02 09:46:48,332 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 18.297212058538708 cm
2026-07-02 09:46:48,333 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 54.888041371309065 cm
2026-07-02 09:46:48,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.002058] moveTile start position adjustment using LiDAR for back wall. (+152.1 ms)
2026-07-02 09:46:48,361 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:48,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.455027] moveTile finished backward adjustment (+453.0 ms)
2026-07-02 09:46:48,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.535967] moveTile ready for forward move (+80.9 ms)
2026-07-02 09:46:48,896 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:46:48,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.564922] moveTile initialized movement targetSteps=1 (+29.0 ms)
2026-07-02 09:46:48,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.566139] moveTile loop start (+1.2 ms)
2026-07-02 09:46:48,905 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:48,912 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:46:48,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.585192] moveTile calculated motor speeds left=100 right=90 gyroSteer=10.360000000000127 wallSteer=-0.3999999999999986 (+19.1 ms)
2026-07-02 09:46:48,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.605015] moveTile applied motor speed left=100 right=90 (+19.8 ms)
2026-07-02 09:46:48,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.610702] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:46:48,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.611572] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:48,951 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.619031] moveTile ramp check isBigRamp=False (+7.5 ms)
2026-07-02 09:46:48,952 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.07000000000005002 deg, practicalMoveTime: 0.05563040396264508 sec
2026-07-02 09:46:48,953 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:46:48,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.621422] moveTile loop end practicalMoveTime=0.056 (+2.4 ms)
2026-07-02 09:46:48,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.622002] moveTile loop start (+0.6 ms)
2026-07-02 09:46:48,960 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:48,965 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:46:48,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.638250] moveTile calculated motor speeds left=100 right=83 gyroSteer=14.639999999999873 wallSteer=1.6000000000000014 (+16.2 ms)
2026-07-02 09:46:48,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.658487] moveTile applied motor speed left=100 right=83 (+20.2 ms)
2026-07-02 09:46:48,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.661970] moveTile tile color check tempTileColor=E (+3.5 ms)
2026-07-02 09:46:48,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.662633] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:49,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.672110] moveTile ramp check isBigRamp=False (+9.5 ms)
2026-07-02 09:46:49,005 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.76000000000005 deg, practicalMoveTime: 0.10788986751556427 sec
2026-07-02 09:46:49,006 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:46:49,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.673875] moveTile loop end practicalMoveTime=0.108 (+1.8 ms)
2026-07-02 09:46:49,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.674114] moveTile loop start (+0.2 ms)
2026-07-02 09:46:49,014 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:49,019 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:46:49,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.693959] moveTile calculated motor speeds left=100 right=79 gyroSteer=20.920000000000073 wallSteer=0.0 (+19.8 ms)
2026-07-02 09:46:49,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.714660] moveTile applied motor speed left=100 right=79 (+20.7 ms)
2026-07-02 09:46:49,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.718663] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:49,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.719206] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:49,056 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.723497] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:49,057 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.38 deg, practicalMoveTime: 0.1586791110435019 sec
2026-07-02 09:46:49,058 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:46:49,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.726219] moveTile loop end practicalMoveTime=0.159 (+2.7 ms)
2026-07-02 09:46:49,059 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.726753] moveTile loop start (+0.5 ms)
2026-07-02 09:46:49,070 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:49,076 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:46:49,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.752554] moveTile calculated motor speeds left=100 right=80 gyroSteer=17.320000000000164 wallSteer=2.3999999999999986 (+25.8 ms)
2026-07-02 09:46:49,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.772276] moveTile applied motor speed left=100 right=80 (+19.7 ms)
2026-07-02 09:46:49,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.778059] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:46:49,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.778936] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:49,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.785265] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:46:49,118 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.15000000000003 deg, practicalMoveTime: 0.21930442946988632 sec
2026-07-02 09:46:49,119 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.1 ms
2026-07-02 09:46:49,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.787407] moveTile loop end practicalMoveTime=0.219 (+2.1 ms)
2026-07-02 09:46:49,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.787833] moveTile loop start (+0.4 ms)
2026-07-02 09:46:49,128 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:49,133 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:46:49,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.809936] moveTile calculated motor speeds left=100 right=80 gyroSteer=15.88000000000011 wallSteer=3.1999999999999993 (+22.1 ms)
2026-07-02 09:46:49,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.831967] moveTile applied motor speed left=100 right=80 (+22.0 ms)
2026-07-02 09:46:49,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.837615] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:46:49,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.838245] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:49,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.845321] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:46:49,178 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.2786423105501662 sec
2026-07-02 09:46:49,179 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:46:49,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.847431] moveTile loop end practicalMoveTime=0.279 (+2.1 ms)
2026-07-02 09:46:49,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.847800] moveTile loop start (+0.4 ms)
2026-07-02 09:46:49,186 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0090>
2026-07-02 09:46:49,193 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:46:49,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.867066] moveTile calculated motor speeds left=100 right=84 gyroSteer=13.960000000000036 wallSteer=1.6000000000000014 (+19.3 ms)
2026-07-02 09:46:49,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.889126] moveTile applied motor speed left=100 right=84 (+22.1 ms)
2026-07-02 09:46:49,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.892808] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:49,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.893402] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:49,230 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.897826] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:46:49,231 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.3305863638431529 sec
2026-07-02 09:46:49,232 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:46:49,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.901058] moveTile loop end practicalMoveTime=0.331 (+3.2 ms)
2026-07-02 09:46:49,234 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.901569] moveTile loop start (+0.5 ms)
2026-07-02 09:46:49,240 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:46:49,246 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:46:49,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.921048] moveTile calculated motor speeds left=100 right=91 gyroSteer=7.2000000000000455 wallSteer=1.1999999999999993 (+19.5 ms)
2026-07-02 09:46:49,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.940411] moveTile applied motor speed left=100 right=91 (+19.4 ms)
2026-07-02 09:46:49,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.946166] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:46:49,280 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.947520] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:46:49,287 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.954505] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:46:49,289 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7000000000000455 deg, practicalMoveTime: 0.38695360724686123 sec
2026-07-02 09:46:49,290 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:46:49,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.958704] moveTile loop end practicalMoveTime=0.387 (+4.2 ms)
2026-07-02 09:46:49,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.959217] moveTile loop start (+0.5 ms)
2026-07-02 09:46:49,297 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:49,303 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=254.9
2026-07-02 09:46:49,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.977635] moveTile calculated motor speeds left=100 right=88 gyroSteer=10.759999999999991 wallSteer=1.1999999999999993 (+18.4 ms)
2026-07-02 09:46:49,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [242.998377] moveTile applied motor speed left=100 right=88 (+20.7 ms)
2026-07-02 09:46:49,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.002163] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:49,335 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.002803] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:49,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.009533] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:46:49,343 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4600000000000364 deg, practicalMoveTime: 0.44025465427928173 sec
2026-07-02 09:46:49,344 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:46:49,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.012626] moveTile loop end practicalMoveTime=0.440 (+3.1 ms)
2026-07-02 09:46:49,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.013037] moveTile loop start (+0.4 ms)
2026-07-02 09:46:49,352 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:49,358 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:46:49,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.032593] moveTile calculated motor speeds left=100 right=89 gyroSteer=7.039999999999964 wallSteer=3.6000000000000014 (+19.6 ms)
2026-07-02 09:46:49,385 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.052990] moveTile applied motor speed left=100 right=89 (+20.4 ms)
2026-07-02 09:46:49,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.056650] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:49,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.057230] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:49,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.062702] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:49,396 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7800000000000296 deg, practicalMoveTime: 0.4920887255407741 sec
2026-07-02 09:46:49,396 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.2 ms
2026-07-02 09:46:49,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.064760] moveTile loop end practicalMoveTime=0.492 (+2.1 ms)
2026-07-02 09:46:49,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.065122] moveTile loop start (+0.4 ms)
2026-07-02 09:46:49,404 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:49,410 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:46:49,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.082984] moveTile calculated motor speeds left=100 right=84 gyroSteer=7.8400000000001455 wallSteer=7.600000000000001 (+17.9 ms)
2026-07-02 09:46:49,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.108144] moveTile applied motor speed left=100 right=84 (+25.2 ms)
2026-07-02 09:46:49,444 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.111834] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:49,445 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.112526] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:49,449 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.117370] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:49,450 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8400000000000318 deg, practicalMoveTime: 0.5460237016925387 sec
2026-07-02 09:46:49,451 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:46:49,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.119467] moveTile loop end practicalMoveTime=0.546 (+2.1 ms)
2026-07-02 09:46:49,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.120064] moveTile loop start (+0.6 ms)
2026-07-02 09:46:49,458 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:49,464 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:46:49,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.139419] moveTile calculated motor speeds left=100 right=83 gyroSteer=5.279999999999973 wallSteer=11.2 (+19.4 ms)
2026-07-02 09:46:49,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.159763] moveTile applied motor speed left=100 right=83 (+20.3 ms)
2026-07-02 09:46:49,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.163635] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:49,496 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.164325] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:49,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.169251] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:46:49,502 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.25 deg, practicalMoveTime: 0.5972142219354643 sec
2026-07-02 09:46:49,503 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:46:49,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.171257] moveTile loop end practicalMoveTime=0.597 (+2.0 ms)
2026-07-02 09:46:49,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.171623] moveTile loop start (+0.4 ms)
2026-07-02 09:46:49,510 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:46:49,515 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:46:49,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.190351] moveTile calculated motor speeds left=100 right=98 gyroSteer=3.880000000000109 wallSteer=-2.3999999999999986 (+18.7 ms)
2026-07-02 09:46:49,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.210533] moveTile applied motor speed left=100 right=98 (+20.2 ms)
2026-07-02 09:46:49,547 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.214991] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:49,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.215645] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:49,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.219968] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:49,553 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.6471978787347571 sec
2026-07-02 09:46:49,554 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:46:49,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.222504] moveTile loop end practicalMoveTime=0.647 (+2.5 ms)
2026-07-02 09:46:49,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.222970] moveTile loop start (+0.5 ms)
2026-07-02 09:46:49,567 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:49,575 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:46:49,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.248717] moveTile calculated motor speeds left=100 right=93 gyroSteer=4.920000000000073 wallSteer=2.0 (+25.7 ms)
2026-07-02 09:46:49,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.268304] moveTile applied motor speed left=100 right=93 (+19.6 ms)
2026-07-02 09:46:49,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.272108] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:49,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.272940] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:49,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.277933] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:49,611 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.05000000000001137 deg, practicalMoveTime: 0.7040597345247668 sec
2026-07-02 09:46:49,612 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:46:49,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.280070] moveTile loop end practicalMoveTime=0.704 (+2.1 ms)
2026-07-02 09:46:49,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.280565] moveTile loop start (+0.5 ms)
2026-07-02 09:46:49,619 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:46:49,625 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:49,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.298252] moveTile calculated motor speeds left=100 right=92 gyroSteer=2.6800000000000637 wallSteer=4.799999999999997 (+17.7 ms)
2026-07-02 09:46:49,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.320274] moveTile applied motor speed left=100 right=92 (+22.0 ms)
2026-07-02 09:46:49,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.325703] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:46:49,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.326732] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:49,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.335626] moveTile ramp check isBigRamp=False (+8.9 ms)
2026-07-02 09:46:49,669 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.660000000000025 deg, practicalMoveTime: 0.761278104958689 sec
2026-07-02 09:46:49,669 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.7 ms
2026-07-02 09:46:49,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.337797] moveTile loop end practicalMoveTime=0.761 (+2.2 ms)
2026-07-02 09:46:49,671 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.338691] moveTile loop start (+0.9 ms)
2026-07-02 09:46:49,677 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6ce70150>
2026-07-02 09:46:49,683 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:49,690 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.357846] moveTile calculated motor speeds left=100 right=93 gyroSteer=1.7200000000000273 wallSteer=4.799999999999997 (+19.2 ms)
2026-07-02 09:46:49,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.376937] moveTile applied motor speed left=100 right=93 (+19.1 ms)
2026-07-02 09:46:49,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.382696] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:46:49,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.383447] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:49,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.390301] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:46:49,724 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.61 deg, practicalMoveTime: 0.8152038004162303 sec
2026-07-02 09:46:49,725 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:46:49,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.393090] moveTile loop end practicalMoveTime=0.815 (+2.8 ms)
2026-07-02 09:46:49,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.393578] moveTile loop start (+0.5 ms)
2026-07-02 09:46:49,731 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:49,738 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:46:49,745 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.412411] moveTile calculated motor speeds left=100 right=93 gyroSteer=2.119999999999891 wallSteer=4.799999999999997 (+18.8 ms)
2026-07-02 09:46:49,765 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.432666] moveTile applied motor speed left=100 right=93 (+20.3 ms)
2026-07-02 09:46:49,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.437612] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:46:49,771 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.438436] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:49,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.446198] moveTile ramp check isBigRamp=False (+7.8 ms)
2026-07-02 09:46:49,779 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.12664647029930007 CM
2026-07-02 09:46:49,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.467493] moveTile finished by time control (+21.3 ms)
2026-07-02 09:46:49,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.468223] moveTile start final forward adjustment (+22.0 ms)
2026-07-02 09:46:49,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.497630] moveTile finished final forward adjustment (+29.4 ms)
2026-07-02 09:46:49,989 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 45.08008032358736 cm
2026-07-02 09:46:49,991 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 48.86401628086724 cm
2026-07-02 09:46:49,995 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 18.397197209465972 cm
2026-07-02 09:46:49,996 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 74.59391347188932 cm
2026-07-02 09:46:49,997 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.665015] moveTile updated map and detected walls (+167.4 ms)
2026-07-02 09:46:50,002 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:50,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.670376] moveTile finished (+172.7 ms)
2026-07-02 09:46:50,043 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 2)
2026-07-02 09:46:50,071 - __main__ - [main.py:110] - INFO - Current position: (22, 20, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   @   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:50,077 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [243.745364] moveTile start direction=absDirection.EAST position=(22, 20, 0) front=absDirection.EAST
2026-07-02 09:46:50,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.750497] moveTile after initial toggle check (+5.1 ms)
2026-07-02 09:46:50,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.752678] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:46:50,085 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (22, 20, 0) facing absDirection.EAST
2026-07-02 09:46:50,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.753666] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:46:50,111 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 268.27 target: 270
2026-07-02 09:46:50,133 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 268.27, diff: 1.7300000000000182
2026-07-02 09:46:50,179 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 268.27 deg
2026-07-02 09:46:50,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.847814] moveTile finished heading change (+94.1 ms)
2026-07-02 09:46:50,180 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.848375] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:46:50,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.848791] moveTile updated front direction (+0.4 ms)
2026-07-02 09:46:50,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [243.868360] moveTile stopped motors before alignment (+19.6 ms)
2026-07-02 09:46:50,357 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 44.915550922441675 cm
2026-07-02 09:46:50,358 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 47.843238482578585 cm
2026-07-02 09:46:50,363 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 18.897121057044167 cm
2026-07-02 09:46:50,365 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 74.80980641809445 cm
2026-07-02 09:46:50,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.033880] moveTile start position adjustment using LiDAR for front wall. (+165.5 ms)
2026-07-02 09:46:50,387 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:50,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.444334] moveTile finished backward adjustment (+410.5 ms)
2026-07-02 09:46:50,859 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.527262] moveTile ready for forward move (+82.9 ms)
2026-07-02 09:46:50,889 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:46:50,890 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.557622] moveTile initialized movement targetSteps=1 (+30.4 ms)
2026-07-02 09:46:50,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.559009] moveTile loop start (+1.4 ms)
2026-07-02 09:46:50,902 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c159a50>
2026-07-02 09:46:50,909 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:50,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.584818] moveTile calculated motor speeds left=99 right=100 gyroSteer=-3.3199999999999363 wallSteer=2.3999999999999986 (+25.8 ms)
2026-07-02 09:46:50,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.605203] moveTile applied motor speed left=99 right=100 (+20.4 ms)
2026-07-02 09:46:50,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.610424] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:46:50,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.611144] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:50,948 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.616117] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:50,949 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.25 deg, practicalMoveTime: 0.06013693783392774 sec
2026-07-02 09:46:50,950 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:46:50,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.618114] moveTile loop end practicalMoveTime=0.060 (+2.0 ms)
2026-07-02 09:46:50,951 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.618525] moveTile loop start (+0.4 ms)
2026-07-02 09:46:50,958 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:50,965 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:50,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.642315] moveTile calculated motor speeds left=100 right=94 gyroSteer=0.8000000000001819 wallSteer=4.399999999999999 (+23.8 ms)
2026-07-02 09:46:50,996 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.664106] moveTile applied motor speed left=100 right=94 (+21.8 ms)
2026-07-02 09:46:51,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.673874] moveTile tile color check tempTileColor=E (+9.8 ms)
2026-07-02 09:46:51,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.675286] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:46:51,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.679905] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:51,013 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.47 deg, practicalMoveTime: 0.12324435092452779 sec
2026-07-02 09:46:51,014 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.8 ms
2026-07-02 09:46:51,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.681989] moveTile loop end practicalMoveTime=0.123 (+2.1 ms)
2026-07-02 09:46:51,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.682411] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,021 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:51,027 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:46:51,034 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.701635] moveTile calculated motor speeds left=100 right=89 gyroSteer=6.320000000000164 wallSteer=4.399999999999999 (+19.2 ms)
2026-07-02 09:46:51,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.725132] moveTile applied motor speed left=100 right=89 (+23.5 ms)
2026-07-02 09:46:51,063 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.730744] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:46:51,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.731562] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:51,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.736333] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:51,069 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.34000000000003183 deg, practicalMoveTime: 0.17899946130773667 sec
2026-07-02 09:46:51,070 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:46:51,071 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.738927] moveTile loop end practicalMoveTime=0.179 (+2.6 ms)
2026-07-02 09:46:51,072 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.739486] moveTile loop start (+0.6 ms)
2026-07-02 09:46:51,078 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:51,084 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:51,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.758279] moveTile calculated motor speeds left=100 right=87 gyroSteer=7.599999999999909 wallSteer=4.799999999999997 (+18.8 ms)
2026-07-02 09:46:51,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.778014] moveTile applied motor speed left=100 right=87 (+19.7 ms)
2026-07-02 09:46:51,114 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.781839] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:51,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.783509] moveTile obstacle check escapeFlag=False (+1.7 ms)
2026-07-02 09:46:51,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.788213] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:46:51,121 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.2302615371877361 sec
2026-07-02 09:46:51,122 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:46:51,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.790257] moveTile loop end practicalMoveTime=0.230 (+2.0 ms)
2026-07-02 09:46:51,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.790616] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,129 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:51,136 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:51,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.809199] moveTile calculated motor speeds left=100 right=88 gyroSteer=6.039999999999964 wallSteer=5.200000000000003 (+18.6 ms)
2026-07-02 09:46:51,162 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.829619] moveTile applied motor speed left=100 right=88 (+20.4 ms)
2026-07-02 09:46:51,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.835548] moveTile tile color check tempTileColor=E (+5.9 ms)
2026-07-02 09:46:51,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.836341] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:51,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.842280] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:51,176 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.283976960861769 sec
2026-07-02 09:46:51,176 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.5 ms
2026-07-02 09:46:51,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.844693] moveTile loop end practicalMoveTime=0.284 (+2.4 ms)
2026-07-02 09:46:51,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.845069] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,184 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:51,190 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:51,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.863795] moveTile calculated motor speeds left=100 right=94 gyroSteer=3.119999999999891 wallSteer=2.8000000000000007 (+18.7 ms)
2026-07-02 09:46:51,216 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.884082] moveTile applied motor speed left=100 right=94 (+20.3 ms)
2026-07-02 09:46:51,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.888836] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:46:51,221 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.889359] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:51,226 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.894120] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:51,227 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5800000000000409 deg, practicalMoveTime: 0.3348304686209732 sec
2026-07-02 09:46:51,228 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:46:51,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.896806] moveTile loop end practicalMoveTime=0.335 (+2.7 ms)
2026-07-02 09:46:51,229 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.897235] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,238 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:51,245 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:51,253 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.920873] moveTile calculated motor speeds left=100 right=85 gyroSteer=3.8400000000001455 wallSteer=10.8 (+23.6 ms)
2026-07-02 09:46:51,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.941333] moveTile applied motor speed left=100 right=85 (+20.5 ms)
2026-07-02 09:46:51,278 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.946300] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:46:51,279 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.947152] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:51,285 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.953077] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:51,286 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.84000000000003 deg, practicalMoveTime: 0.39275713599245127 sec
2026-07-02 09:46:51,287 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:46:51,287 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.954979] moveTile loop end practicalMoveTime=0.393 (+1.9 ms)
2026-07-02 09:46:51,287 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.955361] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,293 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:51,299 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:46:51,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.973123] moveTile calculated motor speeds left=100 right=80 gyroSteer=-0.1999999999998181 wallSteer=20.0 (+17.8 ms)
2026-07-02 09:46:51,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.993379] moveTile applied motor speed left=100 right=80 (+20.3 ms)
2026-07-02 09:46:51,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.997781] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:46:51,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [244.998576] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:51,341 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.009279] moveTile ramp check isBigRamp=False (+10.7 ms)
2026-07-02 09:46:51,342 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7000000000000455 deg, practicalMoveTime: 0.44844803636672576 sec
2026-07-02 09:46:51,343 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.4 ms
2026-07-02 09:46:51,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.011243] moveTile loop end practicalMoveTime=0.448 (+2.0 ms)
2026-07-02 09:46:51,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.011606] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,351 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2b50>
2026-07-02 09:46:51,356 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:46:51,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.030258] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.599999999999909 wallSteer=0.0 (+18.7 ms)
2026-07-02 09:46:51,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.049932] moveTile applied motor speed left=93 right=100 (+19.7 ms)
2026-07-02 09:46:51,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.055607] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:46:51,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.056730] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:51,395 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.063351] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:46:51,397 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.5019622459545701 sec
2026-07-02 09:46:51,398 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:46:51,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.066115] moveTile loop end practicalMoveTime=0.502 (+2.8 ms)
2026-07-02 09:46:51,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.066525] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,407 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:46:51,414 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:46:51,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.087316] moveTile calculated motor speeds left=89 right=100 gyroSteer=-10.839999999999918 wallSteer=0.0 (+20.8 ms)
2026-07-02 09:46:51,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.106256] moveTile applied motor speed left=89 right=100 (+18.9 ms)
2026-07-02 09:46:51,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.110117] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:51,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.111207] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:51,450 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.117680] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:46:51,451 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5900000000000318 deg, practicalMoveTime: 0.5549615549423009 sec
2026-07-02 09:46:51,451 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:46:51,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.119732] moveTile loop end practicalMoveTime=0.555 (+2.1 ms)
2026-07-02 09:46:51,453 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.120740] moveTile loop start (+1.0 ms)
2026-07-02 09:46:51,459 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3250>
2026-07-02 09:46:51,465 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:46:51,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.140175] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.400000000000091 wallSteer=0.0 (+19.4 ms)
2026-07-02 09:46:51,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.162723] moveTile applied motor speed left=91 right=100 (+22.5 ms)
2026-07-02 09:46:51,499 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.166722] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:46:51,500 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.167825] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:51,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.172450] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:51,505 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.20000000000005 deg, practicalMoveTime: 0.6090765817125445 sec
2026-07-02 09:46:51,506 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:46:51,506 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.174408] moveTile loop end practicalMoveTime=0.609 (+2.0 ms)
2026-07-02 09:46:51,507 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.174777] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,513 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:46:51,520 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:46:51,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.193558] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.1599999999998545 wallSteer=0.0 (+18.8 ms)
2026-07-02 09:46:51,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.213757] moveTile applied motor speed left=96 right=100 (+20.2 ms)
2026-07-02 09:46:51,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.218053] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:51,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.218844] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:51,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.223520] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:46:51,557 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.66 deg, practicalMoveTime: 0.659560826953864 sec
2026-07-02 09:46:51,557 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.3 ms
2026-07-02 09:46:51,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.226233] moveTile loop end practicalMoveTime=0.660 (+2.7 ms)
2026-07-02 09:46:51,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.226822] moveTile loop start (+0.6 ms)
2026-07-02 09:46:51,566 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c159a50>
2026-07-02 09:46:51,573 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:51,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.246390] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.679999999999836 wallSteer=0.0 (+19.6 ms)
2026-07-02 09:46:51,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.266389] moveTile applied motor speed left=95 right=100 (+20.0 ms)
2026-07-02 09:46:51,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.270084] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:51,603 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.270730] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:51,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.276706] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:46:51,610 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8600000000000136 deg, practicalMoveTime: 0.7119638569677331 sec
2026-07-02 09:46:51,610 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:46:51,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.278739] moveTile loop end practicalMoveTime=0.712 (+2.0 ms)
2026-07-02 09:46:51,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.279113] moveTile loop start (+0.4 ms)
2026-07-02 09:46:51,618 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:51,625 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:51,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.298978] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.11999999999989086 wallSteer=0.0 (+19.9 ms)
2026-07-02 09:46:51,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.320271] moveTile applied motor speed left=100 right=99 (+21.3 ms)
2026-07-02 09:46:51,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.324728] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:51,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.325396] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:51,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.329996] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:51,663 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4800000000000182 deg, practicalMoveTime: 0.7647495469051372 sec
2026-07-02 09:46:51,664 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:46:51,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.333008] moveTile loop end practicalMoveTime=0.765 (+3.0 ms)
2026-07-02 09:46:51,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.333527] moveTile loop start (+0.5 ms)
2026-07-02 09:46:51,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:46:51,681 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.3, S=255.0, V=245.0
2026-07-02 09:46:51,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.362113] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.240000000000009 wallSteer=0.0 (+28.6 ms)
2026-07-02 09:46:51,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.383357] moveTile applied motor speed left=94 right=100 (+21.2 ms)
2026-07-02 09:46:51,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.387224] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:46:51,721 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.389341] moveTile obstacle check escapeFlag=False (+2.1 ms)
2026-07-02 09:46:51,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.394940] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:46:51,728 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.8287301152323022 sec
2026-07-02 09:46:51,729 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.1 ms
2026-07-02 09:46:51,729 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.397401] moveTile loop end practicalMoveTime=0.829 (+2.5 ms)
2026-07-02 09:46:51,731 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.398496] moveTile loop start (+1.1 ms)
2026-07-02 09:46:51,738 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:51,745 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=104.0, S=255.0, V=238.7
2026-07-02 09:46:51,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.426414] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.519999999999982 wallSteer=0.0 (+27.9 ms)
2026-07-02 09:46:51,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.448509] moveTile applied motor speed left=100 right=97 (+22.1 ms)
2026-07-02 09:46:51,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.452267] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:51,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.452851] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:51,790 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.458367] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:46:51,792 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.11411311041619614 CM
2026-07-02 09:46:51,814 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.482265] moveTile finished by time control (+23.9 ms)
2026-07-02 09:46:51,815 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.482958] moveTile start final forward adjustment (+24.6 ms)
2026-07-02 09:46:51,844 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:46:51,858 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.2
2026-07-02 09:46:51,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.553373] moveTile finished final forward adjustment (+70.4 ms)
2026-07-02 09:46:52,036 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 105.05305381134552 cm
2026-07-02 09:46:52,037 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 10.699999809265137 cm
2026-07-02 09:46:52,041 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 10.699999809265137 cm, TSD10 distance: 1.3 cm
2026-07-02 09:46:52,042 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 108.73970517711516 cm
2026-07-02 09:46:52,043 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 111.00905655004667 cm
2026-07-02 09:46:52,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.712042] moveTile updated map and detected walls (+158.7 ms)
2026-07-02 09:46:52,047 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:52,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.715837] moveTile finished (+162.5 ms)
2026-07-02 09:46:52,093 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:46:52,124 - __main__ - [main.py:110] - INFO - Current position: (23, 20, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   @ | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   U | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:52,130 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [245.797525] moveTile start direction=absDirection.SOUTH position=(23, 20, 0) front=absDirection.EAST
2026-07-02 09:46:52,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.804111] moveTile after initial toggle check (+6.6 ms)
2026-07-02 09:46:52,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.808169] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+4.1 ms)
2026-07-02 09:46:52,141 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (23, 20, 0) facing absDirection.EAST
2026-07-02 09:46:52,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [245.809439] moveTile start heading change target=180 (+1.3 ms)
2026-07-02 09:46:52,169 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 270.33000000000004 target: 180
2026-07-02 09:46:53,005 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 185.52, diff: 5.52000000000001
2026-07-02 09:46:53,055 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.28 deg
2026-07-02 09:46:53,056 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [246.723941] moveTile finished heading change (+914.5 ms)
2026-07-02 09:46:53,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [246.724448] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:46:53,057 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:46:54,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [247.757725] moveTile updated front direction (+1033.3 ms)
2026-07-02 09:46:54,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [247.776765] moveTile stopped motors before alignment (+19.0 ms)
2026-07-02 09:46:54,259 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 110.13286608760559 cm
2026-07-02 09:46:54,261 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 17.39734951430958 cm
2026-07-02 09:46:54,262 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 103.74666122702172 cm
2026-07-02 09:46:54,265 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 105.60691204914191 cm
2026-07-02 09:46:54,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [247.933574] moveTile ready for forward move (+156.8 ms)
2026-07-02 09:46:54,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [247.959539] moveTile initialized movement targetSteps=1 (+26.0 ms)
2026-07-02 09:46:54,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [247.961198] moveTile loop start (+1.7 ms)
2026-07-02 09:46:54,303 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:54,310 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=142.1, S=182.8, V=167.3
2026-07-02 09:46:54,315 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [247.982534] moveTile calculated motor speeds left=83 right=100 gyroSteer=-17.440000000000055 wallSteer=0.8000000000000007 (+21.3 ms)
2026-07-02 09:46:54,338 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.005375] moveTile applied motor speed left=83 right=100 (+22.8 ms)
2026-07-02 09:46:54,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.010997] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:46:54,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.011597] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.017487] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:54,351 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4399999999999977 deg, practicalMoveTime: 0.05884306961755014 sec
2026-07-02 09:46:54,351 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:46:54,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.019549] moveTile loop end practicalMoveTime=0.059 (+2.1 ms)
2026-07-02 09:46:54,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.019926] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,359 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:54,365 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=153.7, S=165.7, V=145.4
2026-07-02 09:46:54,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.037467] moveTile calculated motor speeds left=83 right=100 gyroSteer=-17.279999999999973 wallSteer=1.1999999999999993 (+17.5 ms)
2026-07-02 09:46:54,389 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.056679] moveTile applied motor speed left=83 right=100 (+19.2 ms)
2026-07-02 09:46:54,393 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.060938] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:54,394 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.061751] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:54,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.069111] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:46:54,402 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18000000000000682 deg, practicalMoveTime: 0.10975901327217757 sec
2026-07-02 09:46:54,403 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:46:54,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.071163] moveTile loop end practicalMoveTime=0.110 (+2.1 ms)
2026-07-02 09:46:54,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.071525] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,409 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9190>
2026-07-02 09:46:54,415 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=161.5, S=166.2, V=132.0
2026-07-02 09:46:54,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.090793] moveTile calculated motor speeds left=86 right=100 gyroSteer=-15.079999999999927 wallSteer=1.1999999999999993 (+19.3 ms)
2026-07-02 09:46:54,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.110944] moveTile applied motor speed left=86 right=100 (+20.2 ms)
2026-07-02 09:46:54,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.114600] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:54,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.115167] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.120295] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:54,453 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9200000000000159 deg, practicalMoveTime: 0.16026600744500386 sec
2026-07-02 09:46:54,454 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:46:54,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.122327] moveTile loop end practicalMoveTime=0.160 (+2.0 ms)
2026-07-02 09:46:54,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.122696] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,465 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:54,473 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.6, S=167.4, V=131.0
2026-07-02 09:46:54,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.148457] moveTile calculated motor speeds left=88 right=100 gyroSteer=-12.919999999999959 wallSteer=1.1999999999999993 (+25.8 ms)
2026-07-02 09:46:54,501 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.168700] moveTile applied motor speed left=88 right=100 (+20.2 ms)
2026-07-02 09:46:54,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.173256] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:46:54,506 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.173877] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.180466] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:46:54,514 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0300000000000296 deg, practicalMoveTime: 0.21978068722566552 sec
2026-07-02 09:46:54,514 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.2 ms
2026-07-02 09:46:54,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.182441] moveTile loop end practicalMoveTime=0.220 (+2.0 ms)
2026-07-02 09:46:54,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.182808] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,522 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:54,529 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.6, S=167.0, V=131.9
2026-07-02 09:46:54,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.202142] moveTile calculated motor speeds left=84 right=100 gyroSteer=-14.240000000000009 wallSteer=-0.8000000000000007 (+19.3 ms)
2026-07-02 09:46:54,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.228168] moveTile applied motor speed left=84 right=100 (+26.0 ms)
2026-07-02 09:46:54,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.232430] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:54,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.233278] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:54,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.242953] moveTile ramp check isBigRamp=False (+9.7 ms)
2026-07-02 09:46:54,576 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.28171342825194035 sec
2026-07-02 09:46:54,577 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.7 ms
2026-07-02 09:46:54,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.245030] moveTile loop end practicalMoveTime=0.282 (+2.1 ms)
2026-07-02 09:46:54,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.245391] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,588 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:54,596 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=163.2, S=168.1, V=132.1
2026-07-02 09:46:54,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.269001] moveTile calculated motor speeds left=91 right=100 gyroSteer=-7.440000000000055 wallSteer=-0.8000000000000007 (+23.6 ms)
2026-07-02 09:46:54,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.292091] moveTile applied motor speed left=91 right=100 (+23.1 ms)
2026-07-02 09:46:54,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.297045] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:46:54,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.298000] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:46:54,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.306036] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:46:54,640 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8000000000000114 deg, practicalMoveTime: 0.3446826963085165 sec
2026-07-02 09:46:54,640 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.8 ms
2026-07-02 09:46:54,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.308757] moveTile loop end practicalMoveTime=0.345 (+2.7 ms)
2026-07-02 09:46:54,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.309121] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,648 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:54,654 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=163.4, S=168.2, V=133.1
2026-07-02 09:46:54,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.329963] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.119999999999891 wallSteer=-0.3999999999999986 (+20.8 ms)
2026-07-02 09:46:54,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.349327] moveTile applied motor speed left=94 right=100 (+19.4 ms)
2026-07-02 09:46:54,687 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.355059] moveTile tile color check tempTileColor=R (+5.7 ms)
2026-07-02 09:46:54,688 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.355706] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.360334] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:54,694 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.060000000000002274 deg, practicalMoveTime: 0.39784142723176813 sec
2026-07-02 09:46:54,696 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:46:54,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.365123] moveTile loop end practicalMoveTime=0.398 (+4.8 ms)
2026-07-02 09:46:54,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.365571] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,704 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:54,712 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=163.3, S=167.2, V=135.4
2026-07-02 09:46:54,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.393215] moveTile calculated motor speeds left=98 right=100 gyroSteer=-2.7999999999999545 wallSteer=1.1999999999999993 (+27.6 ms)
2026-07-02 09:46:54,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.420225] moveTile applied motor speed left=98 right=100 (+27.0 ms)
2026-07-02 09:46:54,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.423862] moveTile tile color check tempTileColor=R (+3.6 ms)
2026-07-02 09:46:54,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.424931] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:54,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.431161] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:46:54,764 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1899999999999977 deg, practicalMoveTime: 0.46649545928425684 sec
2026-07-02 09:46:54,765 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 67.6 ms
2026-07-02 09:46:54,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.433767] moveTile loop end practicalMoveTime=0.466 (+2.6 ms)
2026-07-02 09:46:54,766 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.434138] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,772 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:46:54,778 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=163.1, S=167.1, V=133.3
2026-07-02 09:46:54,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.452551] moveTile calculated motor speeds left=90 right=100 gyroSteer=-1.1599999999999682 wallSteer=-8.400000000000002 (+18.4 ms)
2026-07-02 09:46:54,805 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.472514] moveTile applied motor speed left=90 right=100 (+20.0 ms)
2026-07-02 09:46:54,808 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.476258] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:46:54,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.478111] moveTile obstacle check escapeFlag=False (+1.9 ms)
2026-07-02 09:46:54,815 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.483314] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:54,816 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4900000000000091 deg, practicalMoveTime: 0.5174086001913866 sec
2026-07-02 09:46:54,817 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.7 ms
2026-07-02 09:46:54,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.485342] moveTile loop end practicalMoveTime=0.517 (+2.0 ms)
2026-07-02 09:46:54,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.485699] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,825 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:54,830 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.9, S=167.5, V=132.8
2026-07-02 09:46:54,841 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.508755] moveTile calculated motor speeds left=91 right=100 gyroSteer=0.8800000000001091 wallSteer=-9.2 (+23.1 ms)
2026-07-02 09:46:54,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.536463] moveTile applied motor speed left=91 right=100 (+27.7 ms)
2026-07-02 09:46:54,872 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.540155] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:46:54,873 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.540761] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.546001] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:54,879 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18000000000000682 deg, practicalMoveTime: 0.5794429009967172 sec
2026-07-02 09:46:54,880 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.7 ms
2026-07-02 09:46:54,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.547947] moveTile loop end practicalMoveTime=0.579 (+1.9 ms)
2026-07-02 09:46:54,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.548400] moveTile loop start (+0.5 ms)
2026-07-02 09:46:54,889 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:54,895 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=163.0, S=167.1, V=134.1
2026-07-02 09:46:54,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.570289] moveTile calculated motor speeds left=99 right=100 gyroSteer=1.5199999999999818 wallSteer=-1.6000000000000014 (+21.9 ms)
2026-07-02 09:46:54,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.589831] moveTile applied motor speed left=99 right=100 (+19.5 ms)
2026-07-02 09:46:54,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.593529] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:46:54,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.594130] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.598768] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:46:54,932 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.6315886795783691 sec
2026-07-02 09:46:54,932 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:46:54,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.600787] moveTile loop end practicalMoveTime=0.632 (+2.0 ms)
2026-07-02 09:46:54,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.601144] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,940 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c159a50>
2026-07-02 09:46:54,947 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=163.0, S=167.3, V=132.4
2026-07-02 09:46:54,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.620817] moveTile calculated motor speeds left=100 right=99 gyroSteer=2.160000000000082 wallSteer=-1.1999999999999993 (+19.7 ms)
2026-07-02 09:46:54,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.641719] moveTile applied motor speed left=100 right=99 (+20.9 ms)
2026-07-02 09:46:54,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.645364] moveTile tile color check tempTileColor=R (+3.6 ms)
2026-07-02 09:46:54,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.645983] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:54,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.650959] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:54,985 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9300000000000068 deg, practicalMoveTime: 0.6835618509228456 sec
2026-07-02 09:46:54,985 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:46:54,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.653545] moveTile loop end practicalMoveTime=0.684 (+2.6 ms)
2026-07-02 09:46:54,986 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.653972] moveTile loop start (+0.4 ms)
2026-07-02 09:46:54,995 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:46:55,001 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.8, S=165.9, V=133.3
2026-07-02 09:46:55,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.674627] moveTile calculated motor speeds left=100 right=94 gyroSteer=4.360000000000014 wallSteer=0.8000000000000007 (+20.7 ms)
2026-07-02 09:46:55,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.694394] moveTile applied motor speed left=100 right=94 (+19.8 ms)
2026-07-02 09:46:55,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.698021] moveTile tile color check tempTileColor=R (+3.6 ms)
2026-07-02 09:46:55,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.698593] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:55,039 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.706522] moveTile ramp check isBigRamp=False (+7.9 ms)
2026-07-02 09:46:55,040 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.240000000000009 deg, practicalMoveTime: 0.7380005650454794 sec
2026-07-02 09:46:55,040 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:46:55,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.708763] moveTile loop end practicalMoveTime=0.738 (+2.2 ms)
2026-07-02 09:46:55,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.709130] moveTile loop start (+0.4 ms)
2026-07-02 09:46:55,047 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:55,053 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.4, S=165.8, V=133.7
2026-07-02 09:46:55,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.725458] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.0399999999999636 wallSteer=0.8000000000000007 (+16.3 ms)
2026-07-02 09:46:55,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.745042] moveTile applied motor speed left=100 right=97 (+19.6 ms)
2026-07-02 09:46:55,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.750004] moveTile tile color check tempTileColor=R (+5.0 ms)
2026-07-02 09:46:55,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.750655] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:55,089 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.756519] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:55,090 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.65000000000003 deg, practicalMoveTime: 0.7871551216236067 sec
2026-07-02 09:46:55,090 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.9 ms
2026-07-02 09:46:55,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.758531] moveTile loop end practicalMoveTime=0.787 (+2.0 ms)
2026-07-02 09:46:55,091 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.758896] moveTile loop start (+0.4 ms)
2026-07-02 09:46:55,098 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:46:55,105 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.4, S=166.0, V=134.9
2026-07-02 09:46:55,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.779021] moveTile calculated motor speeds left=99 right=100 gyroSteer=0.40000000000009095 wallSteer=-0.8000000000000007 (+20.1 ms)
2026-07-02 09:46:55,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.803199] moveTile applied motor speed left=99 right=100 (+24.2 ms)
2026-07-02 09:46:55,140 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.808054] moveTile tile color check tempTileColor=R (+4.9 ms)
2026-07-02 09:46:55,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.808826] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:55,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.815049] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:46:55,148 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.160000000000025 deg, practicalMoveTime: 0.8450927884667344 sec
2026-07-02 09:46:55,149 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:46:55,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.817176] moveTile loop end practicalMoveTime=0.845 (+2.1 ms)
2026-07-02 09:46:55,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.817539] moveTile loop start (+0.4 ms)
2026-07-02 09:46:55,157 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:55,163 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=162.0, S=164.3, V=137.6
2026-07-02 09:46:55,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.836369] moveTile calculated motor speeds left=98 right=100 gyroSteer=-0.599999999999909 wallSteer=-0.8000000000000007 (+18.8 ms)
2026-07-02 09:46:55,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.857068] moveTile applied motor speed left=98 right=100 (+20.7 ms)
2026-07-02 09:46:55,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.861764] moveTile tile color check tempTileColor=R (+4.7 ms)
2026-07-02 09:46:55,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.862456] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:55,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.869096] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:46:55,202 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.3709038361200568 CM
2026-07-02 09:46:55,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.892192] moveTile finished by time control (+23.1 ms)
2026-07-02 09:46:55,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.892880] moveTile start final forward adjustment (+23.8 ms)
2026-07-02 09:46:55,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.922795] moveTile finished final forward adjustment (+29.9 ms)
2026-07-02 09:46:55,256 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.3709038361200568 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:55,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [248.925057] moveTile updated moved vertical distance 0.371 (+2.3 ms)
2026-07-02 09:46:55,411 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 140.02868590289285 cm
2026-07-02 09:46:55,413 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 17.489339472834175 cm
2026-07-02 09:46:55,415 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 75.7816230556923 cm
2026-07-02 09:46:55,417 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:46:55,419 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 75.69612178197218 cm
2026-07-02 09:46:55,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.087091] moveTile updated map and detected walls (+162.0 ms)
2026-07-02 09:46:55,425 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: R
2026-07-02 09:46:55,429 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (23, 21, 0), Tile type: R, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.NO_WALL: 1>}
2026-07-02 09:46:55,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.098377] moveTile finished (+173.3 ms)
2026-07-02 09:46:55,472 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 4)
2026-07-02 09:46:55,503 - __main__ - [main.py:110] - INFO - Current position: (23, 21, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   @ | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   U | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:55,516 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (23, 22, 0)
2026-07-02 09:46:55,519 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:55,520 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [249.187701] moveTile start direction=absDirection.SOUTH position=(23, 21, 0) front=absDirection.SOUTH
2026-07-02 09:46:55,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.196234] moveTile after initial toggle check (+8.5 ms)
2026-07-02 09:46:55,531 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.198455] moveTile after tile checks isRedTile=True isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:46:55,531 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (23, 21, 0) facing absDirection.SOUTH
2026-07-02 09:46:55,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.199427] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:46:55,569 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 179.93 target: 180
2026-07-02 09:46:55,593 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 179.93, diff: 0.06999999999999318
2026-07-02 09:46:55,639 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 179.99 deg
2026-07-02 09:46:55,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.307486] moveTile finished heading change (+108.1 ms)
2026-07-02 09:46:55,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.307923] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:46:55,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.308449] moveTile updated front direction (+0.5 ms)
2026-07-02 09:46:55,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.328509] moveTile stopped motors before alignment (+20.1 ms)
2026-07-02 09:46:55,811 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 139.41502036916387 cm
2026-07-02 09:46:55,812 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 17.399999618530273 cm
2026-07-02 09:46:55,813 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 74.01469112979808 cm
2026-07-02 09:46:55,816 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 75.11657602888864 cm
2026-07-02 09:46:55,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.484802] moveTile ready for forward move (+156.3 ms)
2026-07-02 09:46:55,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.518222] moveTile initialized movement targetSteps=1 (+33.4 ms)
2026-07-02 09:46:55,852 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.519786] moveTile loop start (+1.6 ms)
2026-07-02 09:46:55,858 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3010>
2026-07-02 09:46:55,863 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:55,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.538228] moveTile calculated motor speeds left=100 right=91 gyroSteer=6.519999999999982 wallSteer=2.0 (+18.4 ms)
2026-07-02 09:46:55,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.562431] moveTile applied motor speed left=100 right=91 (+24.2 ms)
2026-07-02 09:46:55,900 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.567449] moveTile tile color check tempTileColor=R (+5.0 ms)
2026-07-02 09:46:55,901 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.568578] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:55,907 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.574475] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:46:55,908 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6899999999999977 deg, practicalMoveTime: 0.05743730773641455 sec
2026-07-02 09:46:55,910 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.9 ms
2026-07-02 09:46:55,911 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.578418] moveTile loop end practicalMoveTime=0.057 (+3.9 ms)
2026-07-02 09:46:55,911 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.578863] moveTile loop start (+0.4 ms)
2026-07-02 09:46:55,916 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:55,922 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:46:55,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.596068] moveTile calculated motor speeds left=100 right=92 gyroSteer=7.2000000000000455 wallSteer=0.0 (+17.2 ms)
2026-07-02 09:46:55,949 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.617057] moveTile applied motor speed left=100 right=92 (+21.0 ms)
2026-07-02 09:46:55,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.620772] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:46:55,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.621400] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:55,959 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.626749] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:46:55,960 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.330000000000041 deg, practicalMoveTime: 0.10729817698543237 sec
2026-07-02 09:46:55,960 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.4 ms
2026-07-02 09:46:55,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.628811] moveTile loop end practicalMoveTime=0.107 (+2.1 ms)
2026-07-02 09:46:55,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.629176] moveTile loop start (+0.4 ms)
2026-07-02 09:46:55,969 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:55,974 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:55,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.648860] moveTile calculated motor speeds left=100 right=90 gyroSteer=7.32000000000005 wallSteer=2.3999999999999986 (+19.7 ms)
2026-07-02 09:46:56,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.673917] moveTile applied motor speed left=100 right=90 (+25.1 ms)
2026-07-02 09:46:56,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.677790] moveTile tile color check tempTileColor=R (+3.9 ms)
2026-07-02 09:46:56,011 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.678580] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:56,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.683665] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:46:56,017 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4800000000000182 deg, practicalMoveTime: 0.16356894741037734 sec
2026-07-02 09:46:56,017 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:46:56,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.685957] moveTile loop end practicalMoveTime=0.164 (+2.3 ms)
2026-07-02 09:46:56,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.686401] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,025 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:56,032 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:46:56,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.708814] moveTile calculated motor speeds left=100 right=92 gyroSteer=5.480000000000018 wallSteer=2.3999999999999986 (+22.4 ms)
2026-07-02 09:46:56,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.736759] moveTile applied motor speed left=100 right=92 (+27.9 ms)
2026-07-02 09:46:56,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.741782] moveTile tile color check tempTileColor=R (+5.0 ms)
2026-07-02 09:46:56,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.742481] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:56,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.747886] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:46:56,081 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1500000000000341 deg, practicalMoveTime: 0.22698997945895474 sec
2026-07-02 09:46:56,081 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.9 ms
2026-07-02 09:46:56,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.749792] moveTile loop end practicalMoveTime=0.227 (+1.9 ms)
2026-07-02 09:46:56,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.750164] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,089 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:56,095 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.4, S=228.0, V=247.0
2026-07-02 09:46:56,100 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.767489] moveTile calculated motor speeds left=100 right=95 gyroSteer=2.9600000000000364 wallSteer=1.1999999999999993 (+17.3 ms)
2026-07-02 09:46:56,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.787539] moveTile applied motor speed left=100 right=95 (+20.0 ms)
2026-07-02 09:46:56,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.792537] moveTile tile color check tempTileColor=R (+5.0 ms)
2026-07-02 09:46:56,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.793219] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:56,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.799280] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:46:56,133 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.29000000000002046 deg, practicalMoveTime: 0.2784257448582156 sec
2026-07-02 09:46:56,134 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.4 ms
2026-07-02 09:46:56,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.802109] moveTile loop end practicalMoveTime=0.278 (+2.8 ms)
2026-07-02 09:46:56,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.802520] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,142 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:46:56,148 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.4, S=191.8, V=230.9
2026-07-02 09:46:56,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.820851] moveTile calculated motor speeds left=100 right=94 gyroSteer=2.3600000000000136 wallSteer=3.1999999999999993 (+18.3 ms)
2026-07-02 09:46:56,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.845862] moveTile applied motor speed left=100 right=94 (+25.0 ms)
2026-07-02 09:46:56,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.849622] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:56,182 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.850196] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:56,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.857015] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:46:56,191 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5400000000000205 deg, practicalMoveTime: 0.3351327541934887 sec
2026-07-02 09:46:56,191 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.4 ms
2026-07-02 09:46:56,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.859420] moveTile loop end practicalMoveTime=0.335 (+2.4 ms)
2026-07-02 09:46:56,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.859791] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,200 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:46:56,206 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.2, S=167.5, V=236.3
2026-07-02 09:46:56,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.878115] moveTile calculated motor speeds left=100 right=94 gyroSteer=2.6800000000000637 wallSteer=3.1999999999999993 (+18.3 ms)
2026-07-02 09:46:56,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.898815] moveTile applied motor speed left=100 right=94 (+20.7 ms)
2026-07-02 09:46:56,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.903518] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:46:56,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.904234] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:56,243 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.910782] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:46:56,244 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7900000000000205 deg, practicalMoveTime: 0.3879388800463005 sec
2026-07-02 09:46:56,245 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:46:56,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.913159] moveTile loop end practicalMoveTime=0.388 (+2.4 ms)
2026-07-02 09:46:56,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.913560] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,254 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:46:56,260 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.6, S=159.3, V=232.2
2026-07-02 09:46:56,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.934620] moveTile calculated motor speeds left=100 right=93 gyroSteer=2.160000000000082 wallSteer=4.0 (+21.1 ms)
2026-07-02 09:46:56,294 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.961825] moveTile applied motor speed left=100 right=93 (+27.2 ms)
2026-07-02 09:46:56,298 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.965985] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:46:56,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.966827] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:56,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.973147] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:46:56,306 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.240000000000009 deg, practicalMoveTime: 0.4493091828244832 sec
2026-07-02 09:46:56,307 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.0 ms
2026-07-02 09:46:56,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.975174] moveTile loop end practicalMoveTime=0.449 (+2.0 ms)
2026-07-02 09:46:56,308 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.975603] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,314 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:56,321 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=181.6, V=242.1
2026-07-02 09:46:56,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [249.995239] moveTile calculated motor speeds left=96 right=100 gyroSteer=-1.1599999999999682 wallSteer=-2.0 (+19.6 ms)
2026-07-02 09:46:56,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.015150] moveTile applied motor speed left=96 right=100 (+19.9 ms)
2026-07-02 09:46:56,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.018925] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:56,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.019514] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:56,357 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.024480] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:56,359 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.490000000000009 deg, practicalMoveTime: 0.500887663416729 sec
2026-07-02 09:46:56,359 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.6 ms
2026-07-02 09:46:56,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.027816] moveTile loop end practicalMoveTime=0.501 (+3.3 ms)
2026-07-02 09:46:56,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.028614] moveTile loop start (+0.8 ms)
2026-07-02 09:46:56,368 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:56,375 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.0, S=181.1, V=233.9
2026-07-02 09:46:56,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.050975] moveTile calculated motor speeds left=97 right=100 gyroSteer=-1.3199999999999363 wallSteer=-1.5999999999999979 (+22.4 ms)
2026-07-02 09:46:56,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.071229] moveTile applied motor speed left=97 right=100 (+20.3 ms)
2026-07-02 09:46:56,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.075530] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:56,408 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.076404] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:46:56,416 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.083674] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:46:56,417 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.650000000000034 deg, practicalMoveTime: 0.5582204775407734 sec
2026-07-02 09:46:56,418 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:46:56,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.086623] moveTile loop end practicalMoveTime=0.558 (+2.9 ms)
2026-07-02 09:46:56,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.087055] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,429 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3050>
2026-07-02 09:46:56,435 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=243.8, V=254.7
2026-07-02 09:46:56,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.108425] moveTile calculated motor speeds left=100 right=99 gyroSteer=-0.6399999999999864 wallSteer=1.1999999999999993 (+21.4 ms)
2026-07-02 09:46:56,467 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.134868] moveTile applied motor speed left=100 right=99 (+26.4 ms)
2026-07-02 09:46:56,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.139380] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:56,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.140199] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:56,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.147586] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:46:56,481 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.36000000000001364 deg, practicalMoveTime: 0.6211860582074651 sec
2026-07-02 09:46:56,482 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.1 ms
2026-07-02 09:46:56,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.151008] moveTile loop end practicalMoveTime=0.621 (+3.4 ms)
2026-07-02 09:46:56,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.151432] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,491 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:46:56,498 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:46:56,504 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.171845] moveTile calculated motor speeds left=100 right=93 gyroSteer=5.480000000000018 wallSteer=1.1999999999999993 (+20.4 ms)
2026-07-02 09:46:56,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.195334] moveTile applied motor speed left=100 right=93 (+23.5 ms)
2026-07-02 09:46:56,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.200144] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:46:56,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.200777] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:56,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.207078] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:46:56,540 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8300000000000409 deg, practicalMoveTime: 0.6789383292922007 sec
2026-07-02 09:46:56,541 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.3 ms
2026-07-02 09:46:56,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.209401] moveTile loop end practicalMoveTime=0.679 (+2.3 ms)
2026-07-02 09:46:56,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.209790] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,549 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:56,555 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:56,561 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.229160] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.1600000000000819 wallSteer=1.1999999999999993 (+19.4 ms)
2026-07-02 09:46:56,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.249102] moveTile applied motor speed left=100 right=97 (+19.9 ms)
2026-07-02 09:46:56,585 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.252770] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:56,585 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.253352] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:56,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.260473] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:46:56,594 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.7315957133717873 sec
2026-07-02 09:46:56,594 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:46:56,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.262565] moveTile loop end practicalMoveTime=0.732 (+2.1 ms)
2026-07-02 09:46:56,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.262936] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,600 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:46:56,607 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:56,614 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.281791] moveTile calculated motor speeds left=100 right=94 gyroSteer=2.1200000000000045 wallSteer=3.6000000000000014 (+18.9 ms)
2026-07-02 09:46:56,641 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.308830] moveTile applied motor speed left=100 right=94 (+27.0 ms)
2026-07-02 09:46:56,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.314208] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:46:56,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.315301] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:46:56,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.320091] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:46:56,653 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3100000000000023 deg, practicalMoveTime: 0.7904272833347934 sec
2026-07-02 09:46:56,654 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:46:56,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.322031] moveTile loop end practicalMoveTime=0.790 (+1.9 ms)
2026-07-02 09:46:56,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.322395] moveTile loop start (+0.4 ms)
2026-07-02 09:46:56,660 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:56,667 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:46:56,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.339655] moveTile calculated motor speeds left=100 right=93 gyroSteer=2.7999999999999545 wallSteer=4.0 (+17.3 ms)
2026-07-02 09:46:56,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.360314] moveTile applied motor speed left=100 right=93 (+20.7 ms)
2026-07-02 09:46:56,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.364858] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:46:56,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.365530] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:56,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.372141] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:46:56,705 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.0 deg, practicalMoveTime: 0.8418364245570699 sec
2026-07-02 09:46:56,706 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.3 ms
2026-07-02 09:46:56,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.374744] moveTile loop end practicalMoveTime=0.842 (+2.6 ms)
2026-07-02 09:46:56,707 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.375212] moveTile loop start (+0.5 ms)
2026-07-02 09:46:56,714 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2fd0>
2026-07-02 09:46:56,721 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=251.7
2026-07-02 09:46:56,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.395215] moveTile calculated motor speeds left=100 right=96 gyroSteer=2.0 wallSteer=1.1999999999999993 (+20.0 ms)
2026-07-02 09:46:56,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.420829] moveTile applied motor speed left=100 right=96 (+25.6 ms)
2026-07-02 09:46:56,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.424498] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:46:56,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.425018] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:46:56,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.430009] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:56,763 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.5022571507976492 CM
2026-07-02 09:46:56,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.451135] moveTile finished by time control (+21.1 ms)
2026-07-02 09:46:56,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.451898] moveTile start final forward adjustment (+21.9 ms)
2026-07-02 09:46:56,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.484764] moveTile finished final forward adjustment (+32.9 ms)
2026-07-02 09:46:56,818 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.5022571507976492 cm, past distances: [(0.3709038361200568, False), (0, False), (0, False), (0, False)]
2026-07-02 09:46:56,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.486396] moveTile updated moved vertical distance 0.502 (+1.6 ms)
2026-07-02 09:46:56,963 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 172.59999084472656 cm
2026-07-02 09:46:56,964 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 17.200000762939453 cm
2026-07-02 09:46:56,965 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 42.66204641753739 cm
2026-07-02 09:46:56,969 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:46:56,971 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 76.80481097224063 cm
2026-07-02 09:46:56,972 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.639818] moveTile updated map and detected walls (+153.4 ms)
2026-07-02 09:46:56,974 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:46:56,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.643518] moveTile finished (+157.1 ms)
2026-07-02 09:46:57,015 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 5)
2026-07-02 09:46:57,043 - __main__ - [main.py:110] - INFO - Current position: (23, 22, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   R | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   @ | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   U | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:57,055 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.SOUTH. Prioritizing this tile.
2026-07-02 09:46:57,057 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:57,058 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [250.726268] moveTile start direction=absDirection.SOUTH position=(23, 22, 0) front=absDirection.SOUTH
2026-07-02 09:46:57,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.734147] moveTile after initial toggle check (+7.9 ms)
2026-07-02 09:46:57,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.736336] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:46:57,069 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (23, 22, 0) facing absDirection.SOUTH
2026-07-02 09:46:57,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.737252] moveTile start heading change target=180 (+0.9 ms)
2026-07-02 09:46:57,097 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 176.05 target: 180
2026-07-02 09:46:57,116 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 176.05, diff: 3.9499999999999886
2026-07-02 09:46:57,326 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 178.0 deg
2026-07-02 09:46:57,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.994269] moveTile finished heading change (+257.0 ms)
2026-07-02 09:46:57,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.994781] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:46:57,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [250.995242] moveTile updated front direction (+0.5 ms)
2026-07-02 09:46:57,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.016060] moveTile stopped motors before alignment (+20.8 ms)
2026-07-02 09:46:57,506 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 172.16372569653757 cm
2026-07-02 09:46:57,507 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 16.799999237060547 cm
2026-07-02 09:46:57,508 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 42.09823227892299 cm
2026-07-02 09:46:57,512 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 76.12185711545236 cm
2026-07-02 09:46:57,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.180505] moveTile ready for forward move (+164.4 ms)
2026-07-02 09:46:57,541 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.208700] moveTile initialized movement targetSteps=1 (+28.2 ms)
2026-07-02 09:46:57,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.210179] moveTile loop start (+1.5 ms)
2026-07-02 09:46:57,554 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:57,559 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.4, S=254.6, V=105.1
2026-07-02 09:46:57,568 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.235444] moveTile calculated motor speeds left=95 right=100 gyroSteer=-5.319999999999936 wallSteer=1.1999999999999993 (+25.3 ms)
2026-07-02 09:46:57,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.255959] moveTile applied motor speed left=95 right=100 (+20.5 ms)
2026-07-02 09:46:57,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.261707] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:46:57,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.262457] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:46:57,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.267704] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:46:57,601 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1200000000000045 deg, practicalMoveTime: 0.05987143863539368 sec
2026-07-02 09:46:57,602 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.1 ms
2026-07-02 09:46:57,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.269858] moveTile loop end practicalMoveTime=0.060 (+2.2 ms)
2026-07-02 09:46:57,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.270289] moveTile loop start (+0.4 ms)
2026-07-02 09:46:57,609 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:46:57,616 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.4, S=254.7, V=105.2
2026-07-02 09:46:57,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.289804] moveTile calculated motor speeds left=100 right=98 gyroSteer=0.7200000000000273 wallSteer=1.1999999999999993 (+19.5 ms)
2026-07-02 09:46:57,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.313310] moveTile applied motor speed left=100 right=98 (+23.5 ms)
2026-07-02 09:46:57,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.317651] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:46:57,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.318388] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:57,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.324567] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:46:57,658 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.040000000000020464 deg, practicalMoveTime: 0.11595820360813347 sec
2026-07-02 09:46:57,658 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:46:57,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.326615] moveTile loop end practicalMoveTime=0.116 (+2.0 ms)
2026-07-02 09:46:57,659 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.326997] moveTile loop start (+0.4 ms)
2026-07-02 09:46:57,666 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:57,674 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.6, S=254.6, V=105.4
2026-07-02 09:46:57,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.346898] moveTile calculated motor speeds left=100 right=88 gyroSteer=8.080000000000041 wallSteer=3.6000000000000014 (+19.9 ms)
2026-07-02 09:46:57,699 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.367274] moveTile applied motor speed left=100 right=88 (+20.4 ms)
2026-07-02 09:46:57,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.373290] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:46:57,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.373896] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:57,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.386311] moveTile ramp check isBigRamp=False (+12.4 ms)
2026-07-02 09:46:57,720 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1800000000000068 deg, practicalMoveTime: 0.17714369839895822 sec
2026-07-02 09:46:57,721 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.9 ms
2026-07-02 09:46:57,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.389839] moveTile loop end practicalMoveTime=0.177 (+3.5 ms)
2026-07-02 09:46:57,723 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.391151] moveTile loop start (+1.3 ms)
2026-07-02 09:46:57,734 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189910>
2026-07-02 09:46:57,740 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.9, S=254.6, V=103.2
2026-07-02 09:46:57,747 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.414731] moveTile calculated motor speeds left=100 right=89 gyroSteer=8.759999999999991 wallSteer=1.6000000000000014 (+23.6 ms)
2026-07-02 09:46:57,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.438059] moveTile applied motor speed left=100 right=89 (+23.3 ms)
2026-07-02 09:46:57,774 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.441820] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:46:57,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.442468] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:46:57,779 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.446758] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:46:57,780 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.32000000000005 deg, practicalMoveTime: 0.23673919978131644 sec
2026-07-02 09:46:57,781 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:46:57,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.448970] moveTile loop end practicalMoveTime=0.237 (+2.2 ms)
2026-07-02 09:46:57,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.449385] moveTile loop start (+0.4 ms)
2026-07-02 09:46:57,789 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:46:57,795 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=113.9, S=254.6, V=103.2
2026-07-02 09:46:57,802 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.469474] moveTile calculated motor speeds left=100 right=94 gyroSteer=1.0399999999999636 wallSteer=4.0 (+20.1 ms)
2026-07-02 09:46:57,826 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.493739] moveTile applied motor speed left=100 right=94 (+24.3 ms)
2026-07-02 09:46:57,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.501401] moveTile tile color check tempTileColor=B (+7.7 ms)
2026-07-02 09:46:57,834 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.502143] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:46:57,839 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.507120] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:46:57,840 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.87 deg, practicalMoveTime: 0.29634226062559976 sec
2026-07-02 09:46:57,841 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:46:57,841 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.509327] moveTile loop end practicalMoveTime=0.296 (+2.2 ms)
2026-07-02 09:46:57,842 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.509687] moveTile loop start (+0.4 ms)
2026-07-02 09:46:57,847 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:46:57,853 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=114.0, S=254.6, V=104.4
2026-07-02 09:46:57,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.526156] moveTile calculated motor speeds left=100 right=98 gyroSteer=-3.3599999999999 wallSteer=4.399999999999999 (+16.5 ms)
2026-07-02 09:46:57,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [251.547976] moveTile applied motor speed left=100 right=98 (+21.8 ms)
2026-07-02 09:46:57,904 - mazeUtils.moveTile - [moveTile.py:241] - INFO - Black tile detected! Stopping movement. Starting escape maneuver.
2026-07-02 09:46:58,402 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Escape maneuver complete.
2026-07-02 09:46:58,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [252.070700] moveTile escaped from black tile (+522.7 ms)
2026-07-02 09:46:58,403 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 5)
2026-07-02 09:46:58,433 - __main__ - [main.py:110] - INFO - Current position: (23, 22, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   R | E   E   E |
+   +   +   +   +   +---+   +
| E | U   U   @ | E   L | V |
+   +   +   +   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:46:58,447 - __main__ - [main.py:119] - WARNING - Position did not change after movement. Possible error in movement or wall detection.
2026-07-02 09:46:58,448 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (22, 22, 0)
2026-07-02 09:46:58,451 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:46:58,452 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [252.119431] moveTile start direction=absDirection.WEST position=(23, 22, 0) front=absDirection.SOUTH
2026-07-02 09:46:58,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [252.127194] moveTile after initial toggle check (+7.8 ms)
2026-07-02 09:46:58,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [252.133513] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+6.3 ms)
2026-07-02 09:46:58,466 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (23, 22, 0) facing absDirection.SOUTH
2026-07-02 09:46:58,467 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [252.134471] moveTile start heading change target=90 (+1.0 ms)
2026-07-02 09:46:58,493 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 177.87 target: 90
2026-07-02 09:46:59,319 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 95.54000000000002, diff: 5.5400000000000205
2026-07-02 09:46:59,370 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.94999999999999 deg
2026-07-02 09:46:59,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.038230] moveTile finished heading change (+903.8 ms)
2026-07-02 09:46:59,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.038665] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:46:59,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.039067] moveTile updated front direction (+0.4 ms)
2026-07-02 09:46:59,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.065919] moveTile stopped motors before alignment (+26.9 ms)
2026-07-02 09:46:59,570 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 163.27513167033172 cm
2026-07-02 09:46:59,571 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 18.338588856477887 cm
2026-07-02 09:46:59,572 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 52.29329393899431 cm
2026-07-02 09:46:59,573 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 73.75503845916113 cm
2026-07-02 09:46:59,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.243266] moveTile start position adjustment using LiDAR for back wall. (+177.3 ms)
2026-07-02 09:46:59,597 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:46:59,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.492745] moveTile finished backward adjustment (+249.5 ms)
2026-07-02 09:46:59,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [253.572502] moveTile ready for forward move (+79.8 ms)
2026-07-02 09:46:59,934 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 83.67000000000002 target: 115
2026-07-02 09:47:00,284 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 109.84, diff: 5.159999999999997
2026-07-02 09:47:00,341 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 116.57 deg
2026-07-02 09:47:00,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.043951] moveTile initialized movement targetSteps=1 (+471.4 ms)
2026-07-02 09:47:00,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.045580] moveTile loop start (+1.6 ms)
2026-07-02 09:47:00,383 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:47:00,389 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:00,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.067032] moveTile calculated motor speeds left=100 right=14 gyroSteer=122.48000000000002 wallSteer=0.0 (+21.5 ms)
2026-07-02 09:47:00,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.094452] moveTile applied motor speed left=100 right=14 (+27.4 ms)
2026-07-02 09:47:00,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.100095] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:47:00,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.101649] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:47:00,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.108421] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:47:00,442 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2600000000000477 deg, practicalMoveTime: 0.06526918180703095 sec
2026-07-02 09:47:00,442 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.4 ms
2026-07-02 09:47:00,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.110571] moveTile loop end practicalMoveTime=0.065 (+2.1 ms)
2026-07-02 09:47:00,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.110994] moveTile loop start (+0.4 ms)
2026-07-02 09:47:00,449 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:00,455 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:00,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.130646] moveTile calculated motor speeds left=100 right=16 gyroSteer=119.56000000000006 wallSteer=0.0 (+19.7 ms)
2026-07-02 09:47:00,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.153176] moveTile applied motor speed left=100 right=16 (+22.5 ms)
2026-07-02 09:47:00,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.157136] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:00,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.158012] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:00,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.163074] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:00,496 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.99 deg, practicalMoveTime: 0.11939258262453012 sec
2026-07-02 09:47:00,498 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.5 ms
2026-07-02 09:47:00,498 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.166315] moveTile loop end practicalMoveTime=0.119 (+3.2 ms)
2026-07-02 09:47:00,499 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.166763] moveTile loop start (+0.4 ms)
2026-07-02 09:47:00,504 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:47:00,510 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:00,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.183337] moveTile calculated motor speeds left=100 right=17 gyroSteer=117.88 wallSteer=0.0 (+16.6 ms)
2026-07-02 09:47:00,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.202770] moveTile applied motor speed left=100 right=17 (+19.4 ms)
2026-07-02 09:47:00,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.210304] moveTile tile color check tempTileColor=E (+7.5 ms)
2026-07-02 09:47:00,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.211177] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:00,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.216842] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:00,550 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.17175925557246635 sec
2026-07-02 09:47:00,551 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:47:00,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.219782] moveTile loop end practicalMoveTime=0.172 (+2.9 ms)
2026-07-02 09:47:00,552 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.220397] moveTile loop start (+0.6 ms)
2026-07-02 09:47:00,559 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:00,565 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:00,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.238256] moveTile calculated motor speeds left=100 right=27 gyroSteer=103.24000000000001 wallSteer=0.0 (+17.9 ms)
2026-07-02 09:47:00,596 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.263621] moveTile applied motor speed left=100 right=27 (+25.4 ms)
2026-07-02 09:47:00,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.267965] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:47:00,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.269070] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:00,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.274891] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:00,609 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.5 deg, practicalMoveTime: 0.2289017215558254 sec
2026-07-02 09:47:00,610 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:47:00,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.278468] moveTile loop end practicalMoveTime=0.229 (+3.6 ms)
2026-07-02 09:47:00,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.278918] moveTile loop start (+0.5 ms)
2026-07-02 09:47:00,616 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:00,622 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:00,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.296492] moveTile calculated motor speeds left=100 right=32 gyroSteer=96.24000000000001 wallSteer=0.0 (+17.6 ms)
2026-07-02 09:47:00,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.317061] moveTile applied motor speed left=100 right=32 (+20.6 ms)
2026-07-02 09:47:00,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.320943] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:00,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.321773] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:00,660 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.327484] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:00,661 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.46000000000004 deg, practicalMoveTime: 0.27969144457326267 sec
2026-07-02 09:47:00,661 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:47:00,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.329698] moveTile loop end practicalMoveTime=0.280 (+2.2 ms)
2026-07-02 09:47:00,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.330588] moveTile loop start (+0.9 ms)
2026-07-02 09:47:00,669 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:47:00,675 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:00,680 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.347491] moveTile calculated motor speeds left=100 right=36 gyroSteer=90.63999999999999 wallSteer=0.0 (+16.9 ms)
2026-07-02 09:47:00,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.373082] moveTile applied motor speed left=100 right=36 (+25.6 ms)
2026-07-02 09:47:00,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.378450] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:47:00,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.379167] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:00,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.385481] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:00,719 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.79 deg, practicalMoveTime: 0.33688672385320206 sec
2026-07-02 09:47:00,719 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:47:00,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.387584] moveTile loop end practicalMoveTime=0.337 (+2.1 ms)
2026-07-02 09:47:00,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.388218] moveTile loop start (+0.6 ms)
2026-07-02 09:47:00,727 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:00,733 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:47:00,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.413628] moveTile calculated motor speeds left=100 right=45 gyroSteer=78.24000000000001 wallSteer=0.0 (+25.4 ms)
2026-07-02 09:47:00,773 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.440628] moveTile applied motor speed left=100 right=45 (+27.0 ms)
2026-07-02 09:47:00,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.444394] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:00,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.445366] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:00,782 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.449987] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:00,783 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.8 deg, practicalMoveTime: 0.4007860519373058 sec
2026-07-02 09:47:00,784 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.3 ms
2026-07-02 09:47:00,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.452399] moveTile loop end practicalMoveTime=0.401 (+2.4 ms)
2026-07-02 09:47:00,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.452834] moveTile loop start (+0.4 ms)
2026-07-02 09:47:00,793 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:00,801 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:00,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.474232] moveTile calculated motor speeds left=100 right=50 gyroSteer=70.56000000000006 wallSteer=0.0 (+21.4 ms)
2026-07-02 09:47:00,826 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.494320] moveTile applied motor speed left=100 right=50 (+20.1 ms)
2026-07-02 09:47:00,831 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.499138] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:47:00,832 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.499809] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:00,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.504262] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:00,838 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.29 deg, practicalMoveTime: 0.4546956539777587 sec
2026-07-02 09:47:00,839 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:47:00,839 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.507009] moveTile loop end practicalMoveTime=0.455 (+2.7 ms)
2026-07-02 09:47:00,840 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.507442] moveTile loop start (+0.4 ms)
2026-07-02 09:47:00,849 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:00,856 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:00,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.528624] moveTile calculated motor speeds left=100 right=55 gyroSteer=63.92000000000007 wallSteer=0.0 (+21.2 ms)
2026-07-02 09:47:00,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.549367] moveTile applied motor speed left=100 right=55 (+20.7 ms)
2026-07-02 09:47:00,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.553092] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:00,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.553653] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:00,890 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.557962] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:00,891 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.61 deg, practicalMoveTime: 0.5071284931898279 sec
2026-07-02 09:47:00,892 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:47:00,892 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.560065] moveTile loop end practicalMoveTime=0.507 (+2.1 ms)
2026-07-02 09:47:00,893 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.561044] moveTile loop start (+1.0 ms)
2026-07-02 09:47:00,901 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:47:00,907 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:00,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.580062] moveTile calculated motor speeds left=100 right=57 gyroSteer=60.56000000000006 wallSteer=0.0 (+19.0 ms)
2026-07-02 09:47:00,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.605294] moveTile applied motor speed left=100 right=57 (+25.2 ms)
2026-07-02 09:47:00,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.609709] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:00,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.610541] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:00,950 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.617974] moveTile ramp check isBigRamp=False (+7.4 ms)
2026-07-02 09:47:00,951 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.40000000000003 deg, practicalMoveTime: 0.5665343772894302 sec
2026-07-02 09:47:00,952 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.4 ms
2026-07-02 09:47:00,952 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.619926] moveTile loop end practicalMoveTime=0.567 (+2.0 ms)
2026-07-02 09:47:00,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.620539] moveTile loop start (+0.6 ms)
2026-07-02 09:47:00,958 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189910>
2026-07-02 09:47:00,965 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:47:00,972 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.639842] moveTile calculated motor speeds left=100 right=61 gyroSteer=54.6400000000001 wallSteer=0.0 (+19.3 ms)
2026-07-02 09:47:00,997 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.664790] moveTile applied motor speed left=100 right=61 (+24.9 ms)
2026-07-02 09:47:01,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.669113] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:47:01,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.670331] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:47:01,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.677300] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:47:01,010 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.76000000000005 deg, practicalMoveTime: 0.625319776937181 sec
2026-07-02 09:47:01,012 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:47:01,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.680160] moveTile loop end practicalMoveTime=0.625 (+2.9 ms)
2026-07-02 09:47:01,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.680718] moveTile loop start (+0.6 ms)
2026-07-02 09:47:01,023 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:01,030 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:01,041 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.708426] moveTile calculated motor speeds left=100 right=65 gyroSteer=49.51999999999998 wallSteer=0.0 (+27.7 ms)
2026-07-02 09:47:01,060 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.727743] moveTile applied motor speed left=100 right=65 (+19.3 ms)
2026-07-02 09:47:01,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.732312] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:01,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.733770] moveTile obstacle check escapeFlag=False (+1.5 ms)
2026-07-02 09:47:01,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.738244] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:01,072 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.73 deg, practicalMoveTime: 0.6855195613189977 sec
2026-07-02 09:47:01,073 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.4 ms
2026-07-02 09:47:01,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.741902] moveTile loop end practicalMoveTime=0.686 (+3.7 ms)
2026-07-02 09:47:01,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.742793] moveTile loop start (+0.9 ms)
2026-07-02 09:47:01,081 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:01,088 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:01,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.763258] moveTile calculated motor speeds left=100 right=68 gyroSteer=44.600000000000136 wallSteer=0.0 (+20.5 ms)
2026-07-02 09:47:01,115 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.783068] moveTile applied motor speed left=100 right=68 (+19.8 ms)
2026-07-02 09:47:01,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.788555] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:47:01,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.789574] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:01,127 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.795043] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:01,128 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.7401819263105 sec
2026-07-02 09:47:01,129 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:47:01,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.797910] moveTile loop end practicalMoveTime=0.740 (+2.9 ms)
2026-07-02 09:47:01,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.798402] moveTile loop start (+0.5 ms)
2026-07-02 09:47:01,138 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:01,145 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:01,156 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.824069] moveTile calculated motor speeds left=100 right=70 gyroSteer=41.83999999999992 wallSteer=0.0 (+25.7 ms)
2026-07-02 09:47:01,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.847159] moveTile applied motor speed left=100 right=70 (+23.1 ms)
2026-07-02 09:47:01,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.850908] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:01,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.851675] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:01,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.857860] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:01,191 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.86 deg, practicalMoveTime: 0.802266892643212 sec
2026-07-02 09:47:01,192 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.1 ms
2026-07-02 09:47:01,192 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.860270] moveTile loop end practicalMoveTime=0.802 (+2.4 ms)
2026-07-02 09:47:01,193 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.860665] moveTile loop start (+0.4 ms)
2026-07-02 09:47:01,198 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:01,204 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:01,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.877780] moveTile calculated motor speeds left=100 right=75 gyroSteer=35.07999999999993 wallSteer=0.0 (+17.1 ms)
2026-07-02 09:47:01,230 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.897836] moveTile applied motor speed left=100 right=75 (+20.1 ms)
2026-07-02 09:47:01,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.903789] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:47:01,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.904594] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:01,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.909554] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:01,243 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.160000000000025 deg, practicalMoveTime: 0.8531354671384237 sec
2026-07-02 09:47:01,243 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:47:01,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.911711] moveTile loop end practicalMoveTime=0.853 (+2.2 ms)
2026-07-02 09:47:01,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.912230] moveTile loop start (+0.5 ms)
2026-07-02 09:47:01,250 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189910>
2026-07-02 09:47:01,256 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:01,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.932356] moveTile calculated motor speeds left=100 right=79 gyroSteer=30.0 wallSteer=0.0 (+20.1 ms)
2026-07-02 09:47:01,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.960057] moveTile applied motor speed left=100 right=79 (+27.7 ms)
2026-07-02 09:47:01,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.966444] moveTile tile color check tempTileColor=E (+6.4 ms)
2026-07-02 09:47:01,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.967157] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:01,304 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.971513] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:47:01,305 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8799999999999955 deg, practicalMoveTime: 0.9143434093598861 sec
2026-07-02 09:47:01,305 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.8 ms
2026-07-02 09:47:01,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.973630] moveTile loop end practicalMoveTime=0.914 (+2.1 ms)
2026-07-02 09:47:01,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.975163] moveTile loop start (+1.5 ms)
2026-07-02 09:47:01,319 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3ed0>
2026-07-02 09:47:01,325 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:47:01,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [254.998340] moveTile calculated motor speeds left=100 right=81 gyroSteer=25.799999999999955 wallSteer=0.0 (+23.2 ms)
2026-07-02 09:47:01,351 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.019302] moveTile applied motor speed left=100 right=81 (+21.0 ms)
2026-07-02 09:47:01,355 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.023347] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:01,356 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.023905] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:01,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.028553] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:01,362 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.12199623328160245 CM
2026-07-02 09:47:01,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.049558] moveTile finished by time control (+21.0 ms)
2026-07-02 09:47:01,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.050390] moveTile start final forward adjustment (+21.8 ms)
2026-07-02 09:47:01,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.083110] moveTile finished final forward adjustment (+32.7 ms)
2026-07-02 09:47:01,416 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.12199623328160245 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:47:01,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.084809] moveTile updated moved vertical distance -0.122 (+1.7 ms)
2026-07-02 09:47:01,573 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 18.000844788645768 cm
2026-07-02 09:47:01,575 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 45.68829084653001 cm
2026-07-02 09:47:01,577 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 13.553790279422532 cm
2026-07-02 09:47:01,578 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 48.31367393018795 cm
2026-07-02 09:47:01,582 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:47:01,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.251476] moveTile updated map and detected walls (+166.7 ms)
2026-07-02 09:47:01,588 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:01,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.257061] moveTile finished (+172.3 ms)
2026-07-02 09:47:01,634 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:47:01,664 - __main__ - [main.py:110] - INFO - Current position: (22, 22, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   R | E   E   E |
+   +   +---+   +   +---+   +
| E | U   @   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:01,675 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (21, 22, 0)
2026-07-02 09:47:01,679 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:47:01,682 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [255.349807] moveTile start direction=absDirection.WEST position=(22, 22, 0) front=absDirection.WEST
2026-07-02 09:47:01,690 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.358113] moveTile after initial toggle check (+8.3 ms)
2026-07-02 09:47:01,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.360459] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.3 ms)
2026-07-02 09:47:01,693 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (22, 22, 0) facing absDirection.WEST
2026-07-02 09:47:01,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.361533] moveTile start heading change target=90 (+1.1 ms)
2026-07-02 09:47:01,729 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 93.82 target: 90
2026-07-02 09:47:01,749 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 93.82, diff: 3.819999999999993
2026-07-02 09:47:01,972 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 92.0 deg
2026-07-02 09:47:01,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.640692] moveTile finished heading change (+279.2 ms)
2026-07-02 09:47:01,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.641139] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:47:01,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.641544] moveTile updated front direction (+0.4 ms)
2026-07-02 09:47:01,996 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.664194] moveTile stopped motors before alignment (+22.7 ms)
2026-07-02 09:47:02,161 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 17.897273361887777 cm
2026-07-02 09:47:02,162 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 44.72302790447426 cm
2026-07-02 09:47:02,162 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 13.899999618530273 cm
2026-07-02 09:47:02,163 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 47.00569473123038 cm
2026-07-02 09:47:02,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [255.833940] moveTile start position adjustment using LiDAR for back wall. (+169.7 ms)
2026-07-02 09:47:02,187 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:02,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.284198] moveTile finished backward adjustment (+450.3 ms)
2026-07-02 09:47:02,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.364566] moveTile ready for forward move (+80.4 ms)
2026-07-02 09:47:02,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.393572] moveTile initialized movement targetSteps=1 (+29.0 ms)
2026-07-02 09:47:02,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.395178] moveTile loop start (+1.6 ms)
2026-07-02 09:47:02,732 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:02,739 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.5, S=237.0, V=247.8
2026-07-02 09:47:02,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.413661] moveTile calculated motor speeds left=100 right=87 gyroSteer=4.360000000000127 wallSteer=8.0 (+18.5 ms)
2026-07-02 09:47:02,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.436593] moveTile applied motor speed left=100 right=87 (+22.9 ms)
2026-07-02 09:47:02,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.445048] moveTile tile color check tempTileColor=E (+8.5 ms)
2026-07-02 09:47:02,778 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.445889] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:02,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.452158] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:02,785 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.06 deg, practicalMoveTime: 0.05945073082965203 sec
2026-07-02 09:47:02,786 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:47:02,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.455067] moveTile loop end practicalMoveTime=0.059 (+2.9 ms)
2026-07-02 09:47:02,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.455791] moveTile loop start (+0.7 ms)
2026-07-02 09:47:02,793 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189910>
2026-07-02 09:47:02,801 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=247.4, V=254.0
2026-07-02 09:47:02,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.474332] moveTile calculated motor speeds left=100 right=90 gyroSteer=1.400000000000091 wallSteer=7.600000000000001 (+18.5 ms)
2026-07-02 09:47:02,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.493339] moveTile applied motor speed left=100 right=90 (+19.0 ms)
2026-07-02 09:47:02,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.497127] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:02,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.497749] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:02,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.503395] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:02,837 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.77000000000004 deg, practicalMoveTime: 0.10995310102232933 sec
2026-07-02 09:47:02,837 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.2 ms
2026-07-02 09:47:02,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.505540] moveTile loop end practicalMoveTime=0.110 (+2.1 ms)
2026-07-02 09:47:02,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.505957] moveTile loop start (+0.4 ms)
2026-07-02 09:47:02,845 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:02,852 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.9, S=205.2, V=239.9
2026-07-02 09:47:02,861 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.529055] moveTile calculated motor speeds left=100 right=92 gyroSteer=-0.599999999999909 wallSteer=7.600000000000001 (+23.1 ms)
2026-07-02 09:47:02,881 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.548846] moveTile applied motor speed left=100 right=92 (+19.8 ms)
2026-07-02 09:47:02,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.553089] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:02,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.553901] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:02,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.564278] moveTile ramp check isBigRamp=False (+10.4 ms)
2026-07-02 09:47:02,897 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.0 deg, practicalMoveTime: 0.17018025670775414 sec
2026-07-02 09:47:02,898 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:47:02,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.566404] moveTile loop end practicalMoveTime=0.170 (+2.1 ms)
2026-07-02 09:47:02,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.566803] moveTile loop start (+0.4 ms)
2026-07-02 09:47:02,910 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:02,916 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.4, S=168.7, V=224.0
2026-07-02 09:47:02,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.589116] moveTile calculated motor speeds left=100 right=86 gyroSteer=1.9600000000000364 wallSteer=12.0 (+22.3 ms)
2026-07-02 09:47:02,942 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.609732] moveTile applied motor speed left=100 right=86 (+20.6 ms)
2026-07-02 09:47:02,946 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.613683] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:02,947 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.614951] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:02,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.622945] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:47:02,956 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.65000000000003 deg, practicalMoveTime: 0.22839431184006773 sec
2026-07-02 09:47:02,957 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:47:02,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.625640] moveTile loop end practicalMoveTime=0.228 (+2.7 ms)
2026-07-02 09:47:02,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.626045] moveTile loop start (+0.4 ms)
2026-07-02 09:47:02,966 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:02,972 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.3, S=160.9, V=216.5
2026-07-02 09:47:02,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.646564] moveTile calculated motor speeds left=100 right=90 gyroSteer=-1.3999999999998636 wallSteer=11.2 (+20.5 ms)
2026-07-02 09:47:03,004 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.671596] moveTile applied motor speed left=100 right=90 (+25.0 ms)
2026-07-02 09:47:03,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.675992] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:03,009 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.676845] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:03,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.686277] moveTile ramp check isBigRamp=False (+9.4 ms)
2026-07-02 09:47:03,019 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.16 deg, practicalMoveTime: 0.29045801103784835 sec
2026-07-02 09:47:03,020 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.7 ms
2026-07-02 09:47:03,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.688312] moveTile loop end practicalMoveTime=0.290 (+2.0 ms)
2026-07-02 09:47:03,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.688681] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,031 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:03,037 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=224.0, V=250.9
2026-07-02 09:47:03,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.710310] moveTile calculated motor speeds left=100 right=91 gyroSteer=-2.2000000000000455 wallSteer=10.8 (+21.6 ms)
2026-07-02 09:47:03,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.731723] moveTile applied motor speed left=100 right=91 (+21.4 ms)
2026-07-02 09:47:03,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.736234] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:03,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.736855] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:03,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.742544] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:03,076 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5600000000000023 deg, practicalMoveTime: 0.3463034651718299 sec
2026-07-02 09:47:03,077 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:47:03,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.745006] moveTile loop end practicalMoveTime=0.346 (+2.5 ms)
2026-07-02 09:47:03,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.745398] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,084 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189910>
2026-07-02 09:47:03,090 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.4, S=208.0, V=244.2
2026-07-02 09:47:03,097 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.764652] moveTile calculated motor speeds left=100 right=95 gyroSteer=-5.480000000000018 wallSteer=10.0 (+19.3 ms)
2026-07-02 09:47:03,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.784674] moveTile applied motor speed left=100 right=95 (+20.0 ms)
2026-07-02 09:47:03,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.788415] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:03,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.789059] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:03,128 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.795425] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:03,129 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6000000000000227 deg, practicalMoveTime: 0.39819003959769655 sec
2026-07-02 09:47:03,129 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.5 ms
2026-07-02 09:47:03,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.797435] moveTile loop end practicalMoveTime=0.398 (+2.0 ms)
2026-07-02 09:47:03,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.797817] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,137 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c30d0>
2026-07-02 09:47:03,143 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.5, S=212.4, V=244.3
2026-07-02 09:47:03,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.820398] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.920000000000073 wallSteer=-0.3999999999999986 (+22.6 ms)
2026-07-02 09:47:03,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.841449] moveTile applied motor speed left=94 right=100 (+21.1 ms)
2026-07-02 09:47:03,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.845202] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:03,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.845762] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:03,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.852333] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:03,185 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3799999999999955 deg, practicalMoveTime: 0.45441428605932116 sec
2026-07-02 09:47:03,186 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:47:03,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.854297] moveTile loop end practicalMoveTime=0.454 (+2.0 ms)
2026-07-02 09:47:03,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.854659] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,197 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:03,202 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.0, S=212.2, V=238.5
2026-07-02 09:47:03,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.874929] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.399999999999864 wallSteer=0.0 (+20.3 ms)
2026-07-02 09:47:03,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.895109] moveTile applied motor speed left=91 right=100 (+20.2 ms)
2026-07-02 09:47:03,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.899746] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:03,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.900469] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:03,238 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.905949] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:03,239 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.76000000000005 deg, practicalMoveTime: 0.5073887606581413 sec
2026-07-02 09:47:03,240 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:47:03,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.908757] moveTile loop end practicalMoveTime=0.507 (+2.8 ms)
2026-07-02 09:47:03,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.909183] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,255 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c30d0>
2026-07-02 09:47:03,261 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.5, S=226.9, V=246.4
2026-07-02 09:47:03,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.935136] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.960000000000036 wallSteer=0.0 (+26.0 ms)
2026-07-02 09:47:03,294 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.961936] moveTile applied motor speed left=94 right=100 (+26.8 ms)
2026-07-02 09:47:03,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.966610] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:47:03,299 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.967298] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:03,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.972696] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:47:03,306 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.5728744687817611 sec
2026-07-02 09:47:03,306 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.8 ms
2026-07-02 09:47:03,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.974523] moveTile loop end practicalMoveTime=0.573 (+1.8 ms)
2026-07-02 09:47:03,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.974902] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,313 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:03,319 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.7, S=191.0, V=231.8
2026-07-02 09:47:03,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [256.993623] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.559999999999945 wallSteer=0.0 (+18.7 ms)
2026-07-02 09:47:03,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.013643] moveTile applied motor speed left=91 right=100 (+20.0 ms)
2026-07-02 09:47:03,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.017441] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:03,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.018055] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:03,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.028110] moveTile ramp check isBigRamp=False (+10.1 ms)
2026-07-02 09:47:03,361 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.627817254927088 sec
2026-07-02 09:47:03,362 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:47:03,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.030624] moveTile loop end practicalMoveTime=0.628 (+2.5 ms)
2026-07-02 09:47:03,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.031527] moveTile loop start (+0.9 ms)
2026-07-02 09:47:03,372 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189910>
2026-07-02 09:47:03,380 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.7, S=174.3, V=217.2
2026-07-02 09:47:03,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.053956] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.639999999999873 wallSteer=0.0 (+22.4 ms)
2026-07-02 09:47:03,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.073513] moveTile applied motor speed left=94 right=100 (+19.6 ms)
2026-07-02 09:47:03,409 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.077129] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:03,410 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.077691] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:03,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.082654] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:03,416 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7600000000000477 deg, practicalMoveTime: 0.6819682658792785 sec
2026-07-02 09:47:03,418 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:47:03,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.085982] moveTile loop end practicalMoveTime=0.682 (+3.3 ms)
2026-07-02 09:47:03,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.086399] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,426 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:03,432 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.8, S=174.3, V=231.3
2026-07-02 09:47:03,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.106963] moveTile calculated motor speeds left=92 right=100 gyroSteer=-7.3599999999999 wallSteer=0.0 (+20.6 ms)
2026-07-02 09:47:03,464 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.132190] moveTile applied motor speed left=92 right=100 (+25.2 ms)
2026-07-02 09:47:03,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.136092] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:03,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.136665] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:03,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.143260] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:03,476 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.93 deg, practicalMoveTime: 0.7408599951514839 sec
2026-07-02 09:47:03,477 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.4 ms
2026-07-02 09:47:03,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.145324] moveTile loop end practicalMoveTime=0.741 (+2.1 ms)
2026-07-02 09:47:03,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.145696] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,484 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:03,491 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.5, S=179.2, V=233.4
2026-07-02 09:47:03,497 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.165231] moveTile calculated motor speeds left=86 right=100 gyroSteer=-14.0 wallSteer=0.0 (+19.5 ms)
2026-07-02 09:47:03,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.185291] moveTile applied motor speed left=86 right=100 (+20.1 ms)
2026-07-02 09:47:03,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.189737] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:03,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.190404] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:03,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.194709] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:03,528 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2900000000000205 deg, practicalMoveTime: 0.7915294562023295 sec
2026-07-02 09:47:03,529 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:47:03,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.197386] moveTile loop end practicalMoveTime=0.792 (+2.7 ms)
2026-07-02 09:47:03,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.197792] moveTile loop start (+0.4 ms)
2026-07-02 09:47:03,537 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:03,544 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.8, S=233.7, V=230.1
2026-07-02 09:47:03,550 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.217534] moveTile calculated motor speeds left=88 right=100 gyroSteer=-12.0 wallSteer=0.0 (+19.7 ms)
2026-07-02 09:47:03,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.237415] moveTile applied motor speed left=88 right=100 (+19.9 ms)
2026-07-02 09:47:03,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.242211] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:47:03,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.243339] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:03,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.248880] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:03,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.278185] moveTile finished by front distance control. Tof: 13.2, TSD10 : 3.3 (+29.3 ms)
2026-07-02 09:47:03,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.279334] moveTile start final forward adjustment (+30.5 ms)
2026-07-02 09:47:03,644 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:47:03,693 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:10.0
2026-07-02 09:47:03,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.382056] moveTile finished final forward adjustment (+102.7 ms)
2026-07-02 09:47:03,715 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.15165583322197249 cm, past distances: [(-0.12199623328160245, False), (0, False), (0, False), (0, False)]
2026-07-02 09:47:03,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.385218] moveTile updated moved vertical distance 0.152 (+3.2 ms)
2026-07-02 09:47:03,872 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 45.793560515067675 cm
2026-07-02 09:47:03,873 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 81.48428809909886 cm
2026-07-02 09:47:03,874 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 77.57381592868444 cm
2026-07-02 09:47:03,876 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 10.3746666935129 cm
2026-07-02 09:47:03,881 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:47:03,883 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 10.3746666935129 cm, TSD10 distance: 0.6 cm
2026-07-02 09:47:03,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.551535] moveTile updated map and detected walls (+166.3 ms)
2026-07-02 09:47:03,886 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:03,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.555249] moveTile finished (+170.0 ms)
2026-07-02 09:47:03,926 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 2)
2026-07-02 09:47:03,956 - __main__ - [main.py:110] - INFO - Current position: (21, 22, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | U   U   R | E   E   E |
+   +   +---+   +   +---+   +
| E | @   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:03,966 - __main__ - [main.py:135] - INFO - U-shaped unexplored tile detected in direction absDirection.NORTH. Prioritizing this tile.
2026-07-02 09:47:03,971 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:47:03,973 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [257.641222] moveTile start direction=absDirection.NORTH position=(21, 22, 0) front=absDirection.WEST
2026-07-02 09:47:03,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.647288] moveTile after initial toggle check (+6.1 ms)
2026-07-02 09:47:03,982 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.649680] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.4 ms)
2026-07-02 09:47:03,983 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (21, 22, 0) facing absDirection.WEST
2026-07-02 09:47:03,984 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [257.651406] moveTile start heading change target=0 (+1.7 ms)
2026-07-02 09:47:04,008 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 93.75 target: 0
2026-07-02 09:47:04,935 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 6.0, diff: 6.0
2026-07-02 09:47:05,002 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 359.49 deg
2026-07-02 09:47:05,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [258.670545] moveTile finished heading change (+1019.1 ms)
2026-07-02 09:47:05,003 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [258.670981] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:47:05,003 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:47:06,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [259.694991] moveTile updated front direction (+1024.0 ms)
2026-07-02 09:47:06,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [259.714723] moveTile stopped motors before alignment (+19.7 ms)
2026-07-02 09:47:06,192 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 43.493854477568576 cm
2026-07-02 09:47:06,195 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 73.31377168922613 cm
2026-07-02 09:47:06,197 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 82.35852218910323 cm
2026-07-02 09:47:06,199 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 20.62123101053537 cm
2026-07-02 09:47:06,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [259.868411] moveTile ready for forward move (+153.7 ms)
2026-07-02 09:47:06,229 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 354.19 target: 25
2026-07-02 09:47:06,554 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 19.340000000000032, diff: 5.659999999999968
2026-07-02 09:47:06,612 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 26.230000000000018 deg
2026-07-02 09:47:06,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.310256] moveTile initialized movement targetSteps=1 (+441.8 ms)
2026-07-02 09:47:06,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.312594] moveTile loop start (+2.3 ms)
2026-07-02 09:47:06,652 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:06,659 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.8
2026-07-02 09:47:06,668 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.335391] moveTile calculated motor speeds left=100 right=8 gyroSteer=131.20000000000005 wallSteer=0.0 (+22.8 ms)
2026-07-02 09:47:06,690 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.357854] moveTile applied motor speed left=100 right=8 (+22.5 ms)
2026-07-02 09:47:06,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.363041] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:47:06,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.363793] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:06,703 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.371374] moveTile ramp check isBigRamp=False (+7.6 ms)
2026-07-02 09:47:06,705 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.2400000000000091 deg, practicalMoveTime: 0.06203501637186858 sec
2026-07-02 09:47:06,705 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.4 ms
2026-07-02 09:47:06,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.373705] moveTile loop end practicalMoveTime=0.062 (+2.3 ms)
2026-07-02 09:47:06,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.374118] moveTile loop start (+0.4 ms)
2026-07-02 09:47:06,711 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:06,717 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.8
2026-07-02 09:47:06,724 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.391662] moveTile calculated motor speeds left=100 right=11 gyroSteer=127.12000000000012 wallSteer=0.0 (+17.5 ms)
2026-07-02 09:47:06,744 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.412323] moveTile applied motor speed left=100 right=11 (+20.7 ms)
2026-07-02 09:47:06,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.416328] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:06,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.416928] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:06,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.421729] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:47:06,755 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.69 deg, practicalMoveTime: 0.11165444160985638 sec
2026-07-02 09:47:06,755 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.1 ms
2026-07-02 09:47:06,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.423826] moveTile loop end practicalMoveTime=0.112 (+2.1 ms)
2026-07-02 09:47:06,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.424341] moveTile loop start (+0.5 ms)
2026-07-02 09:47:06,768 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:06,774 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.3, S=255.0, V=254.8
2026-07-02 09:47:06,781 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.448424] moveTile calculated motor speeds left=100 right=7 gyroSteer=131.83999999999992 wallSteer=0.0 (+24.1 ms)
2026-07-02 09:47:06,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.475258] moveTile applied motor speed left=100 right=7 (+26.8 ms)
2026-07-02 09:47:06,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.479022] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:06,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.479804] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:06,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.485552] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:06,819 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8400000000000318 deg, practicalMoveTime: 0.17480950376454538 sec
2026-07-02 09:47:06,819 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.6 ms
2026-07-02 09:47:06,820 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.487498] moveTile loop end practicalMoveTime=0.175 (+1.9 ms)
2026-07-02 09:47:06,820 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.487856] moveTile loop start (+0.4 ms)
2026-07-02 09:47:06,827 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:06,833 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.0, S=255.0, V=254.8
2026-07-02 09:47:06,842 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.510315] moveTile calculated motor speeds left=100 right=12 gyroSteer=124.36000000000013 wallSteer=0.0 (+22.5 ms)
2026-07-02 09:47:06,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.532831] moveTile applied motor speed left=100 right=12 (+22.5 ms)
2026-07-02 09:47:06,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.537035] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:06,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.537872] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:06,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.544908] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:47:06,878 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.2337999240358992 sec
2026-07-02 09:47:06,879 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:47:06,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.547520] moveTile loop end practicalMoveTime=0.234 (+2.6 ms)
2026-07-02 09:47:06,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.547938] moveTile loop start (+0.4 ms)
2026-07-02 09:47:06,885 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:47:06,892 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=255.0, V=254.8
2026-07-02 09:47:06,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.567158] moveTile calculated motor speeds left=100 right=25 gyroSteer=106.07999999999993 wallSteer=0.0 (+19.2 ms)
2026-07-02 09:47:06,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.585675] moveTile applied motor speed left=100 right=25 (+18.5 ms)
2026-07-02 09:47:06,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.589374] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:06,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.590107] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:06,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.595984] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:47:06,929 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8300000000000409 deg, practicalMoveTime: 0.28382967402923176 sec
2026-07-02 09:47:06,930 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.6 ms
2026-07-02 09:47:06,930 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.598079] moveTile loop end practicalMoveTime=0.284 (+2.1 ms)
2026-07-02 09:47:06,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.598458] moveTile loop start (+0.4 ms)
2026-07-02 09:47:06,939 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:06,947 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=254.9
2026-07-02 09:47:06,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.622025] moveTile calculated motor speeds left=100 right=33 gyroSteer=94.48000000000002 wallSteer=0.0 (+23.6 ms)
2026-07-02 09:47:06,975 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.642448] moveTile applied motor speed left=100 right=33 (+20.4 ms)
2026-07-02 09:47:06,980 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.647470] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:47:06,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.648587] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:06,990 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.658255] moveTile ramp check isBigRamp=False (+9.7 ms)
2026-07-02 09:47:06,992 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.34577643210227216 sec
2026-07-02 09:47:06,992 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.8 ms
2026-07-02 09:47:06,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.660782] moveTile loop end practicalMoveTime=0.346 (+2.5 ms)
2026-07-02 09:47:06,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.661147] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,003 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:47:07,009 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=251.9, V=254.0
2026-07-02 09:47:07,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.683361] moveTile calculated motor speeds left=100 right=39 gyroSteer=86.0 wallSteer=0.0 (+22.2 ms)
2026-07-02 09:47:07,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.702953] moveTile applied motor speed left=100 right=39 (+19.6 ms)
2026-07-02 09:47:07,039 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.706748] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:07,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.707472] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:07,045 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.713298] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:07,047 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9500000000000455 deg, practicalMoveTime: 0.4001732126678051 sec
2026-07-02 09:47:07,048 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:47:07,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.716066] moveTile loop end practicalMoveTime=0.400 (+2.8 ms)
2026-07-02 09:47:07,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.716478] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,054 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:07,060 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=250.6, V=254.6
2026-07-02 09:47:07,064 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.732331] moveTile calculated motor speeds left=100 right=44 gyroSteer=79.27999999999997 wallSteer=0.0 (+15.9 ms)
2026-07-02 09:47:07,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.752787] moveTile applied motor speed left=100 right=44 (+20.5 ms)
2026-07-02 09:47:07,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.758342] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:47:07,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.759904] moveTile obstacle check escapeFlag=False (+1.6 ms)
2026-07-02 09:47:07,100 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.767884] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:47:07,101 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4700000000000273 deg, practicalMoveTime: 0.45341219732713745 sec
2026-07-02 09:47:07,101 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:47:07,102 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.770026] moveTile loop end practicalMoveTime=0.453 (+2.1 ms)
2026-07-02 09:47:07,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.770454] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,109 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:07,115 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:47:07,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.787867] moveTile calculated motor speeds left=100 right=53 gyroSteer=66.0 wallSteer=0.0 (+17.4 ms)
2026-07-02 09:47:07,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.807370] moveTile applied motor speed left=100 right=53 (+19.5 ms)
2026-07-02 09:47:07,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.811104] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:07,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.811668] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:07,150 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.817388] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:07,150 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.5023432818796407 sec
2026-07-02 09:47:07,151 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.4 ms
2026-07-02 09:47:07,152 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.819420] moveTile loop end practicalMoveTime=0.502 (+2.0 ms)
2026-07-02 09:47:07,152 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.819822] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,159 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:07,165 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:47:07,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.838516] moveTile calculated motor speeds left=100 right=57 gyroSteer=61.27999999999997 wallSteer=0.0 (+18.7 ms)
2026-07-02 09:47:07,198 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.866122] moveTile applied motor speed left=100 right=57 (+27.6 ms)
2026-07-02 09:47:07,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.872903] moveTile tile color check tempTileColor=E (+6.8 ms)
2026-07-02 09:47:07,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.873706] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:07,213 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.880625] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:47:07,214 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.0400000000000205 deg, practicalMoveTime: 0.5652044364602267 sec
2026-07-02 09:47:07,215 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.8 ms
2026-07-02 09:47:07,216 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.883537] moveTile loop end practicalMoveTime=0.565 (+2.9 ms)
2026-07-02 09:47:07,216 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.884048] moveTile loop start (+0.5 ms)
2026-07-02 09:47:07,224 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:07,230 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:47:07,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.904604] moveTile calculated motor speeds left=100 right=64 gyroSteer=50.319999999999936 wallSteer=0.0 (+20.6 ms)
2026-07-02 09:47:07,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.927432] moveTile applied motor speed left=100 right=64 (+22.8 ms)
2026-07-02 09:47:07,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.931838] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:07,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.932576] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:07,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.937477] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:07,271 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0600000000000023 deg, practicalMoveTime: 0.6213376357942364 sec
2026-07-02 09:47:07,272 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.6 ms
2026-07-02 09:47:07,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.940467] moveTile loop end practicalMoveTime=0.621 (+3.0 ms)
2026-07-02 09:47:07,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.940908] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,283 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:07,288 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.9
2026-07-02 09:47:07,294 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.961945] moveTile calculated motor speeds left=100 right=67 gyroSteer=47.07999999999993 wallSteer=0.0 (+21.0 ms)
2026-07-02 09:47:07,315 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.982696] moveTile applied motor speed left=100 right=67 (+20.8 ms)
2026-07-02 09:47:07,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.986512] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:07,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.987209] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:07,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.991564] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:47:07,325 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8000000000000114 deg, practicalMoveTime: 0.6745430853116907 sec
2026-07-02 09:47:07,326 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:47:07,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.994258] moveTile loop end practicalMoveTime=0.675 (+2.7 ms)
2026-07-02 09:47:07,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [260.994739] moveTile loop start (+0.5 ms)
2026-07-02 09:47:07,341 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:07,347 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:07,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.020569] moveTile calculated motor speeds left=100 right=73 gyroSteer=38.12000000000012 wallSteer=0.0 (+25.8 ms)
2026-07-02 09:47:07,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.040433] moveTile applied motor speed left=100 right=73 (+19.9 ms)
2026-07-02 09:47:07,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.046094] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:47:07,379 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.046754] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:07,384 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.051787] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:07,386 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.21000000000004 deg, practicalMoveTime: 0.7341806845441771 sec
2026-07-02 09:47:07,386 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.4 ms
2026-07-02 09:47:07,387 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.055150] moveTile loop end practicalMoveTime=0.734 (+3.4 ms)
2026-07-02 09:47:07,388 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.055594] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,397 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:07,403 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:07,409 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.077022] moveTile calculated motor speeds left=100 right=79 gyroSteer=29.960000000000036 wallSteer=0.0 (+21.4 ms)
2026-07-02 09:47:07,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.096100] moveTile applied motor speed left=100 right=79 (+19.1 ms)
2026-07-02 09:47:07,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.099823] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:07,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.100410] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:07,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.105701] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:47:07,439 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.330000000000041 deg, practicalMoveTime: 0.7872228692695445 sec
2026-07-02 09:47:07,440 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.5 ms
2026-07-02 09:47:07,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.108998] moveTile loop end practicalMoveTime=0.787 (+3.3 ms)
2026-07-02 09:47:07,442 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.109432] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,448 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:07,454 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:07,460 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.127569] moveTile calculated motor speeds left=100 right=81 gyroSteer=26.40000000000009 wallSteer=0.0 (+18.1 ms)
2026-07-02 09:47:07,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.148238] moveTile applied motor speed left=100 right=81 (+20.7 ms)
2026-07-02 09:47:07,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.153052] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:47:07,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.153743] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:07,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.159339] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:07,493 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.77000000000004 deg, practicalMoveTime: 0.8393777053197519 sec
2026-07-02 09:47:07,494 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.1 ms
2026-07-02 09:47:07,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.162266] moveTile loop end practicalMoveTime=0.839 (+2.9 ms)
2026-07-02 09:47:07,495 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.162691] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,501 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:07,507 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:07,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.181354] moveTile calculated motor speeds left=100 right=81 gyroSteer=26.12000000000012 wallSteer=0.0 (+18.7 ms)
2026-07-02 09:47:07,540 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.208130] moveTile applied motor speed left=100 right=81 (+26.8 ms)
2026-07-02 09:47:07,544 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.211839] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:07,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.212730] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:07,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.218467] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:07,552 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.57000000000005 deg, practicalMoveTime: 0.8970681315445738 sec
2026-07-02 09:47:07,552 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:47:07,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.220591] moveTile loop end practicalMoveTime=0.897 (+2.1 ms)
2026-07-02 09:47:07,553 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.221012] moveTile loop start (+0.4 ms)
2026-07-02 09:47:07,558 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:07,565 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:07,575 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.242519] moveTile calculated motor speeds left=100 right=85 gyroSteer=20.160000000000082 wallSteer=0.0 (+21.5 ms)
2026-07-02 09:47:07,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.270008] moveTile applied motor speed left=100 right=85 (+27.5 ms)
2026-07-02 09:47:07,606 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.273978] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:07,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.274513] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:07,611 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.278804] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:07,612 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.740000000000009 deg, practicalMoveTime: 0.9566796093963568 sec
2026-07-02 09:47:07,613 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:47:07,613 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.280989] moveTile loop end practicalMoveTime=0.957 (+2.2 ms)
2026-07-02 09:47:07,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.282472] moveTile loop start (+1.5 ms)
2026-07-02 09:47:07,619 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:07,627 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=255.0, V=254.9
2026-07-02 09:47:07,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.300704] moveTile calculated motor speeds left=100 right=85 gyroSteer=20.680000000000064 wallSteer=0.0 (+18.2 ms)
2026-07-02 09:47:07,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.320218] moveTile applied motor speed left=100 right=85 (+19.5 ms)
2026-07-02 09:47:07,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.324088] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:07,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.325166] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:07,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.330855] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:07,664 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.46290222965627076 CM
2026-07-02 09:47:07,684 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.351643] moveTile finished by time control (+20.8 ms)
2026-07-02 09:47:07,684 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.352386] moveTile start final forward adjustment (+21.5 ms)
2026-07-02 09:47:07,714 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:47:07,773 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:17.2
2026-07-02 09:47:07,872 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:13.6
2026-07-02 09:47:07,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.561964] moveTile finished final forward adjustment (+209.6 ms)
2026-07-02 09:47:07,895 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.46290222965627076 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:47:07,896 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.563520] moveTile updated moved vertical distance 0.463 (+1.6 ms)
2026-07-02 09:47:08,046 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 12.800000190734863 cm
2026-07-02 09:47:08,049 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.WALL
2026-07-02 09:47:08,049 - mazeUtils.moveTile - [moveTile.py:583] - DEBUG - Front LiDAR distance: 12.800000190734863 cm, TSD10 distance: 2.7 cm
2026-07-02 09:47:08,051 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 78.36832080246 cm
2026-07-02 09:47:08,052 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 109.7806526895654 cm
2026-07-02 09:47:08,053 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 15.80000114440918 cm
2026-07-02 09:47:08,053 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.721036] moveTile updated map and detected walls (+157.5 ms)
2026-07-02 09:47:08,055 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:08,056 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.724075] moveTile finished (+160.6 ms)
2026-07-02 09:47:08,095 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:47:08,122 - __main__ - [main.py:110] - INFO - Current position: (21, 21, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | @   U   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:08,129 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (22, 21, 0)
2026-07-02 09:47:08,134 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:47:08,135 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [261.803331] moveTile start direction=absDirection.EAST position=(21, 21, 0) front=absDirection.NORTH
2026-07-02 09:47:08,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.810589] moveTile after initial toggle check (+7.3 ms)
2026-07-02 09:47:08,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.812804] moveTile after tile checks isRedTile=False isUnknownTileAhead=True (+2.2 ms)
2026-07-02 09:47:08,146 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (21, 21, 0) facing absDirection.NORTH
2026-07-02 09:47:08,146 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [261.813829] moveTile start heading change target=270 (+1.0 ms)
2026-07-02 09:47:08,171 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 2.6000000000000227 target: 270
2026-07-02 09:47:09,204 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 273.82, diff: 3.819999999999993
2026-07-02 09:47:09,261 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 269.11 deg
2026-07-02 09:47:09,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [262.930047] moveTile finished heading change (+1116.2 ms)
2026-07-02 09:47:09,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [262.930847] Adjustment after ramp completed (+0.8 ms)
2026-07-02 09:47:09,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [262.931487] moveTile updated front direction (+0.6 ms)
2026-07-02 09:47:09,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [262.951995] moveTile stopped motors before alignment (+20.5 ms)
2026-07-02 09:47:09,421 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 14.716556840027355 cm
2026-07-02 09:47:09,422 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 74.05212492367787 cm
2026-07-02 09:47:09,425 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 108.70124619879225 cm
2026-07-02 09:47:09,426 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 19.221923574680996 cm
2026-07-02 09:47:09,427 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.095086] moveTile start position adjustment using LiDAR for back wall. (+143.1 ms)
2026-07-02 09:47:09,449 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:09,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.347207] moveTile finished backward adjustment (+252.1 ms)
2026-07-02 09:47:09,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.425046] moveTile ready for forward move (+77.8 ms)
2026-07-02 09:47:09,786 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.453966] moveTile initialized movement targetSteps=1 (+28.9 ms)
2026-07-02 09:47:09,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.455462] moveTile loop start (+1.5 ms)
2026-07-02 09:47:09,794 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:09,799 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:47:09,805 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.472819] moveTile calculated motor speeds left=92 right=100 gyroSteer=-11.960000000000036 wallSteer=4.800000000000001 (+17.4 ms)
2026-07-02 09:47:09,830 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.498289] moveTile applied motor speed left=92 right=100 (+25.5 ms)
2026-07-02 09:47:09,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.505770] moveTile tile color check tempTileColor=E (+7.5 ms)
2026-07-02 09:47:09,839 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.506475] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:09,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.513324] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:47:09,847 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6400000000000432 deg, practicalMoveTime: 0.06097536008143169 sec
2026-07-02 09:47:09,848 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.6 ms
2026-07-02 09:47:09,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.516718] moveTile loop end practicalMoveTime=0.061 (+3.4 ms)
2026-07-02 09:47:09,849 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.517111] moveTile loop start (+0.4 ms)
2026-07-02 09:47:09,856 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c30d0>
2026-07-02 09:47:09,862 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:47:09,868 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.535769] moveTile calculated motor speeds left=87 right=100 gyroSteer=-16.960000000000036 wallSteer=4.399999999999999 (+18.7 ms)
2026-07-02 09:47:09,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.554916] moveTile applied motor speed left=87 right=100 (+19.1 ms)
2026-07-02 09:47:09,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.558565] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:09,891 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.559079] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:09,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.572066] moveTile ramp check isBigRamp=False (+13.0 ms)
2026-07-02 09:47:09,907 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.11926219051738624 sec
2026-07-02 09:47:09,908 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:47:09,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.576661] moveTile loop end practicalMoveTime=0.119 (+4.6 ms)
2026-07-02 09:47:09,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.577175] moveTile loop start (+0.5 ms)
2026-07-02 09:47:09,914 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:47:09,922 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:47:09,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.594688] moveTile calculated motor speeds left=88 right=100 gyroSteer=-15.679999999999836 wallSteer=4.399999999999999 (+17.5 ms)
2026-07-02 09:47:09,949 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.617251] moveTile applied motor speed left=88 right=100 (+22.6 ms)
2026-07-02 09:47:09,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.620913] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:09,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.621367] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:09,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.626314] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:09,959 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.17078228246875915 sec
2026-07-02 09:47:09,959 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.1 ms
2026-07-02 09:47:09,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.627553] moveTile loop end practicalMoveTime=0.171 (+1.2 ms)
2026-07-02 09:47:09,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.627792] moveTile loop start (+0.2 ms)
2026-07-02 09:47:09,964 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:47:09,969 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:47:09,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.645962] moveTile calculated motor speeds left=94 right=100 gyroSteer=-12.159999999999854 wallSteer=6.399999999999999 (+18.2 ms)
2026-07-02 09:47:10,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.668407] moveTile applied motor speed left=94 right=100 (+22.4 ms)
2026-07-02 09:47:10,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.673654] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:47:10,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.674295] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:10,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.679847] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:10,013 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.1299999999999955 deg, practicalMoveTime: 0.22411540647756883 sec
2026-07-02 09:47:10,013 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.2 ms
2026-07-02 09:47:10,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.681347] moveTile loop end practicalMoveTime=0.224 (+1.5 ms)
2026-07-02 09:47:10,014 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.681564] moveTile loop start (+0.2 ms)
2026-07-02 09:47:10,020 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:10,025 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:47:10,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.698947] moveTile calculated motor speeds left=93 right=100 gyroSteer=-12.319999999999936 wallSteer=6.0 (+17.4 ms)
2026-07-02 09:47:10,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.724831] moveTile applied motor speed left=93 right=100 (+25.9 ms)
2026-07-02 09:47:10,062 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.730273] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:47:10,063 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.730795] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:10,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.735845] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:10,069 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.150000000000034 deg, practicalMoveTime: 0.2798541673132716 sec
2026-07-02 09:47:10,070 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:47:10,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.737883] moveTile loop end practicalMoveTime=0.280 (+2.0 ms)
2026-07-02 09:47:10,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.738155] moveTile loop start (+0.3 ms)
2026-07-02 09:47:10,077 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:10,083 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:10,088 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.756343] moveTile calculated motor speeds left=87 right=100 gyroSteer=-13.960000000000036 wallSteer=1.5999999999999979 (+18.2 ms)
2026-07-02 09:47:10,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.775606] moveTile applied motor speed left=87 right=100 (+19.3 ms)
2026-07-02 09:47:10,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.779295] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:10,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.779796] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:10,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.785809] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:47:10,119 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.12000000000000455 deg, practicalMoveTime: 0.3294403546399374 sec
2026-07-02 09:47:10,120 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.5 ms
2026-07-02 09:47:10,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.788344] moveTile loop end practicalMoveTime=0.329 (+2.5 ms)
2026-07-02 09:47:10,121 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.788725] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,127 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:10,133 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:10,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.806977] moveTile calculated motor speeds left=83 right=100 gyroSteer=-15.759999999999991 wallSteer=-0.8000000000000007 (+18.3 ms)
2026-07-02 09:47:10,159 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.826826] moveTile applied motor speed left=83 right=100 (+19.8 ms)
2026-07-02 09:47:10,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.831573] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:47:10,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.832377] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:10,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.836851] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:10,170 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.660000000000025 deg, practicalMoveTime: 0.3794626446496857 sec
2026-07-02 09:47:10,171 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:47:10,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.839678] moveTile loop end practicalMoveTime=0.379 (+2.8 ms)
2026-07-02 09:47:10,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.840356] moveTile loop start (+0.7 ms)
2026-07-02 09:47:10,180 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:47:10,187 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:10,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.862148] moveTile calculated motor speeds left=81 right=100 gyroSteer=-16.24000000000001 wallSteer=-2.400000000000002 (+21.8 ms)
2026-07-02 09:47:10,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.881720] moveTile applied motor speed left=81 right=100 (+19.6 ms)
2026-07-02 09:47:10,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.885397] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:10,218 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.886053] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:10,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.892780] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:47:10,226 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2700000000000387 deg, practicalMoveTime: 0.4341131130973968 sec
2026-07-02 09:47:10,226 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:47:10,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.894943] moveTile loop end practicalMoveTime=0.434 (+2.2 ms)
2026-07-02 09:47:10,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.895468] moveTile loop start (+0.5 ms)
2026-07-02 09:47:10,233 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189890>
2026-07-02 09:47:10,239 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:10,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.912317] moveTile calculated motor speeds left=86 right=100 gyroSteer=-14.319999999999936 wallSteer=1.1999999999999993 (+16.8 ms)
2026-07-02 09:47:10,264 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.932285] moveTile applied motor speed left=86 right=100 (+20.0 ms)
2026-07-02 09:47:10,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.935997] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:10,269 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.936676] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:10,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.940945] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:10,274 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.490000000000009 deg, practicalMoveTime: 0.4815397463454151 sec
2026-07-02 09:47:10,275 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 46.9 ms
2026-07-02 09:47:10,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.942953] moveTile loop end practicalMoveTime=0.482 (+2.0 ms)
2026-07-02 09:47:10,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.944197] moveTile loop start (+1.2 ms)
2026-07-02 09:47:10,283 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:10,290 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:10,297 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.964378] moveTile calculated motor speeds left=87 right=100 gyroSteer=-9.679999999999836 wallSteer=-3.1999999999999993 (+20.2 ms)
2026-07-02 09:47:10,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.986873] moveTile applied motor speed left=87 right=100 (+22.5 ms)
2026-07-02 09:47:10,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.991336] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:10,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.992469] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:10,329 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.997083] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:10,330 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8000000000000114 deg, practicalMoveTime: 0.5370371742453609 sec
2026-07-02 09:47:10,331 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:47:10,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.999014] moveTile loop end practicalMoveTime=0.537 (+1.9 ms)
2026-07-02 09:47:10,331 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [263.999399] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,337 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:10,344 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:47:10,349 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.016693] moveTile calculated motor speeds left=85 right=100 gyroSteer=-11.159999999999854 wallSteer=-3.599999999999998 (+17.3 ms)
2026-07-02 09:47:10,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.037632] moveTile applied motor speed left=85 right=100 (+20.9 ms)
2026-07-02 09:47:10,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.042141] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:10,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.042936] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:10,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.047477] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:10,381 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.420000000000016 deg, practicalMoveTime: 0.586901645536266 sec
2026-07-02 09:47:10,381 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.7 ms
2026-07-02 09:47:10,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.050076] moveTile loop end practicalMoveTime=0.587 (+2.6 ms)
2026-07-02 09:47:10,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.050488] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,387 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3010>
2026-07-02 09:47:10,393 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:47:10,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.067159] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.88000000000011 wallSteer=0.8000000000000007 (+16.7 ms)
2026-07-02 09:47:10,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.086548] moveTile applied motor speed left=91 right=100 (+19.4 ms)
2026-07-02 09:47:10,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.090537] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:10,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.091101] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:10,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.097188] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:47:10,430 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.0500000000000114 deg, practicalMoveTime: 0.6358398118247502 sec
2026-07-02 09:47:10,431 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.1 ms
2026-07-02 09:47:10,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.099132] moveTile loop end practicalMoveTime=0.636 (+1.9 ms)
2026-07-02 09:47:10,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.099495] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,437 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:10,444 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:47:10,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.119672] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.519999999999982 wallSteer=0.40000000000000213 (+20.2 ms)
2026-07-02 09:47:10,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.141575] moveTile applied motor speed left=97 right=100 (+21.9 ms)
2026-07-02 09:47:10,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.147109] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:47:10,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.147746] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:10,484 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.151526] moveTile ramp check isBigRamp=False (+3.8 ms)
2026-07-02 09:47:10,485 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.3000000000000114 deg, practicalMoveTime: 0.6897097338363246 sec
2026-07-02 09:47:10,486 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:47:10,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.154065] moveTile loop end practicalMoveTime=0.690 (+2.5 ms)
2026-07-02 09:47:10,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.154433] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,494 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:10,500 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:47:10,506 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.174319] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.9200000000000728 wallSteer=-3.599999999999998 (+19.9 ms)
2026-07-02 09:47:10,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.196860] moveTile applied motor speed left=98 right=100 (+22.5 ms)
2026-07-02 09:47:10,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.200539] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:10,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.201110] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:10,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.206590] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:10,540 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.650000000000034 deg, practicalMoveTime: 0.7443595445168597 sec
2026-07-02 09:47:10,542 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:47:10,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.209934] moveTile loop end practicalMoveTime=0.744 (+3.3 ms)
2026-07-02 09:47:10,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.210360] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,549 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:47:10,554 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=254.9, V=254.9
2026-07-02 09:47:10,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.230037] moveTile calculated motor speeds left=98 right=100 gyroSteer=2.9200000000000728 wallSteer=-4.400000000000002 (+19.7 ms)
2026-07-02 09:47:10,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.250776] moveTile applied motor speed left=98 right=100 (+20.7 ms)
2026-07-02 09:47:10,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.255347] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:10,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.256318] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:10,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.265727] moveTile ramp check isBigRamp=False (+9.4 ms)
2026-07-02 09:47:10,599 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2300000000000182 deg, practicalMoveTime: 0.8019636942859009 sec
2026-07-02 09:47:10,600 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.3 ms
2026-07-02 09:47:10,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.268260] moveTile loop end practicalMoveTime=0.802 (+2.5 ms)
2026-07-02 09:47:10,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.268640] moveTile loop start (+0.4 ms)
2026-07-02 09:47:10,607 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3010>
2026-07-02 09:47:10,614 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.0, S=160.2, V=133.0
2026-07-02 09:47:10,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.287686] moveTile calculated motor speeds left=93 right=100 gyroSteer=-2.2799999999999727 wallSteer=-4.400000000000002 (+19.0 ms)
2026-07-02 09:47:10,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.310751] moveTile applied motor speed left=93 right=100 (+23.1 ms)
2026-07-02 09:47:10,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.314742] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:10,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.315429] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:10,655 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.322700] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:47:10,656 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.7691530627986162 CM
2026-07-02 09:47:10,676 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.343457] moveTile finished by time control (+20.8 ms)
2026-07-02 09:47:10,676 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.344320] moveTile start final forward adjustment (+21.6 ms)
2026-07-02 09:47:10,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.375546] moveTile finished final forward adjustment (+31.2 ms)
2026-07-02 09:47:10,709 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: 0.7691530627986162 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:47:10,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.377313] moveTile updated moved vertical distance 0.769 (+1.8 ms)
2026-07-02 09:47:10,877 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 16.497486970080455 cm
2026-07-02 09:47:10,878 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 42.19220010714444 cm
2026-07-02 09:47:10,881 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:47:10,882 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 15.59762442585133 cm
2026-07-02 09:47:10,883 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 51.966808717408945 cm
2026-07-02 09:47:10,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.551965] moveTile updated map and detected walls (+174.7 ms)
2026-07-02 09:47:10,887 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:10,888 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.555990] moveTile finished (+178.7 ms)
2026-07-02 09:47:10,929 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 1)
2026-07-02 09:47:10,958 - __main__ - [main.py:110] - INFO - Current position: (22, 21, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   @   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:10,976 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (22, 23, 0)
2026-07-02 09:47:10,979 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:47:10,981 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [264.648549] moveTile start direction=absDirection.WEST position=(22, 21, 0) front=absDirection.EAST
2026-07-02 09:47:10,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.656322] moveTile after initial toggle check (+7.8 ms)
2026-07-02 09:47:10,991 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.659294] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+3.0 ms)
2026-07-02 09:47:10,992 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (22, 21, 0) facing absDirection.EAST
2026-07-02 09:47:10,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [264.661544] moveTile start heading change target=90 (+2.2 ms)
2026-07-02 09:47:11,019 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 271.02 target: 90
2026-07-02 09:47:12,593 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 84.11000000000001, diff: 5.889999999999986
2026-07-02 09:47:12,645 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 89.16000000000003 deg
2026-07-02 09:47:12,645 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [266.313157] moveTile finished heading change (+1651.6 ms)
2026-07-02 09:47:12,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [266.313630] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:47:12,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [266.314086] moveTile updated front direction (+0.5 ms)
2026-07-02 09:47:12,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [266.336515] moveTile stopped motors before alignment (+22.4 ms)
2026-07-02 09:47:12,812 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.700000762939453 cm
2026-07-02 09:47:12,813 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 44.94632353026267 cm
2026-07-02 09:47:12,814 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 16.57551959653115 cm
2026-07-02 09:47:12,815 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 49.35880824948555 cm
2026-07-02 09:47:12,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [266.485983] moveTile start position adjustment using LiDAR for back wall. (+149.5 ms)
2026-07-02 09:47:12,839 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:13,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [266.935136] moveTile finished backward adjustment (+449.2 ms)
2026-07-02 09:47:13,346 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.013826] moveTile ready for forward move (+78.7 ms)
2026-07-02 09:47:13,376 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:13,377 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.044804] moveTile initialized movement targetSteps=1 (+31.0 ms)
2026-07-02 09:47:13,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.046169] moveTile loop start (+1.4 ms)
2026-07-02 09:47:13,385 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:13,392 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:47:13,399 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.066865] moveTile calculated motor speeds left=100 right=91 gyroSteer=6.400000000000091 wallSteer=1.6000000000000014 (+20.7 ms)
2026-07-02 09:47:13,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.086852] moveTile applied motor speed left=100 right=91 (+20.0 ms)
2026-07-02 09:47:13,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.091504] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:47:13,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.092576] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:13,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.096886] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:13,430 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8799999999999955 deg, practicalMoveTime: 0.05372248181853386 sec
2026-07-02 09:47:13,431 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:47:13,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.099803] moveTile loop end practicalMoveTime=0.054 (+2.9 ms)
2026-07-02 09:47:13,433 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.101019] moveTile loop start (+1.2 ms)
2026-07-02 09:47:13,438 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:13,444 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:47:13,451 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.118783] moveTile calculated motor speeds left=100 right=93 gyroSteer=10.039999999999964 wallSteer=-3.1999999999999993 (+17.8 ms)
2026-07-02 09:47:13,471 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.139193] moveTile applied motor speed left=100 right=93 (+20.4 ms)
2026-07-02 09:47:13,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.142887] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:13,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.143409] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:13,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.148540] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:13,482 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6100000000000136 deg, practicalMoveTime: 0.10451015166316877 sec
2026-07-02 09:47:13,483 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.4 ms
2026-07-02 09:47:13,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.150916] moveTile loop end practicalMoveTime=0.105 (+2.4 ms)
2026-07-02 09:47:13,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.151290] moveTile loop start (+0.4 ms)
2026-07-02 09:47:13,489 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3f90>
2026-07-02 09:47:13,495 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:47:13,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.170473] moveTile calculated motor speeds left=100 right=92 gyroSteer=10.519999999999982 wallSteer=-3.1999999999999993 (+19.2 ms)
2026-07-02 09:47:13,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.194958] moveTile applied motor speed left=100 right=92 (+24.5 ms)
2026-07-02 09:47:13,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.201001] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:47:13,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.201687] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:13,538 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.206204] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:13,540 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3900000000000432 deg, practicalMoveTime: 0.16189134245936118 sec
2026-07-02 09:47:13,541 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:47:13,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.209759] moveTile loop end practicalMoveTime=0.162 (+3.6 ms)
2026-07-02 09:47:13,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.210177] moveTile loop start (+0.4 ms)
2026-07-02 09:47:13,550 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:13,556 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:13,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.232487] moveTile calculated motor speeds left=100 right=91 gyroSteer=11.519999999999982 wallSteer=-2.8000000000000007 (+22.3 ms)
2026-07-02 09:47:13,589 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.256841] moveTile applied motor speed left=100 right=91 (+24.4 ms)
2026-07-02 09:47:13,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.260470] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:13,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.261019] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:13,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.267092] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:47:13,600 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.910000000000025 deg, practicalMoveTime: 0.22071275343965252 sec
2026-07-02 09:47:13,601 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.4 ms
2026-07-02 09:47:13,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.269143] moveTile loop end practicalMoveTime=0.221 (+2.1 ms)
2026-07-02 09:47:13,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.269506] moveTile loop start (+0.4 ms)
2026-07-02 09:47:13,608 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3f90>
2026-07-02 09:47:13,615 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:13,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.288152] moveTile calculated motor speeds left=100 right=87 gyroSteer=10.480000000000018 wallSteer=1.5999999999999979 (+18.6 ms)
2026-07-02 09:47:13,646 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.314364] moveTile applied motor speed left=100 right=87 (+26.2 ms)
2026-07-02 09:47:13,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.318338] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:13,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.319291] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:13,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.325519] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:13,659 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.0 deg, practicalMoveTime: 0.2784270838100163 sec
2026-07-02 09:47:13,660 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.3 ms
2026-07-02 09:47:13,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.328807] moveTile loop end practicalMoveTime=0.278 (+3.3 ms)
2026-07-02 09:47:13,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.329308] moveTile loop start (+0.5 ms)
2026-07-02 09:47:13,668 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:13,674 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:47:13,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.349216] moveTile calculated motor speeds left=100 right=93 gyroSteer=4.880000000000109 wallSteer=1.5999999999999979 (+19.9 ms)
2026-07-02 09:47:13,701 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.368803] moveTile applied motor speed left=100 right=93 (+19.6 ms)
2026-07-02 09:47:13,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.372464] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:13,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.373169] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:13,711 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.378452] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:47:13,712 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4700000000000273 deg, practicalMoveTime: 0.3299574081909691 sec
2026-07-02 09:47:13,712 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.8 ms
2026-07-02 09:47:13,713 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.380827] moveTile loop end practicalMoveTime=0.330 (+2.4 ms)
2026-07-02 09:47:13,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.381435] moveTile loop start (+0.6 ms)
2026-07-02 09:47:13,718 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:13,725 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=254.3, V=254.7
2026-07-02 09:47:13,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.397577] moveTile calculated motor speeds left=100 right=90 gyroSteer=7.360000000000127 wallSteer=2.0 (+16.1 ms)
2026-07-02 09:47:13,750 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.417764] moveTile applied motor speed left=100 right=90 (+20.2 ms)
2026-07-02 09:47:13,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.421768] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:13,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.422478] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:13,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.426990] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:13,760 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.240000000000009 deg, practicalMoveTime: 0.3776356781097281 sec
2026-07-02 09:47:13,761 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.1 ms
2026-07-02 09:47:13,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.429118] moveTile loop end practicalMoveTime=0.378 (+2.1 ms)
2026-07-02 09:47:13,762 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.429487] moveTile loop start (+0.4 ms)
2026-07-02 09:47:13,770 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1897d0>
2026-07-02 09:47:13,775 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=254.4, V=254.9
2026-07-02 09:47:13,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.452470] moveTile calculated motor speeds left=99 right=100 gyroSteer=2.3600000000001273 wallSteer=-2.8000000000000007 (+23.0 ms)
2026-07-02 09:47:13,807 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.474733] moveTile applied motor speed left=99 right=100 (+22.3 ms)
2026-07-02 09:47:13,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.478539] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:13,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.480308] moveTile obstacle check escapeFlag=False (+1.8 ms)
2026-07-02 09:47:13,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.486194] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:47:13,819 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8900000000000432 deg, practicalMoveTime: 0.4361703903034802 sec
2026-07-02 09:47:13,821 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.8 ms
2026-07-02 09:47:13,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.489673] moveTile loop end practicalMoveTime=0.436 (+3.5 ms)
2026-07-02 09:47:13,822 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.490353] moveTile loop start (+0.7 ms)
2026-07-02 09:47:13,829 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:13,836 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:13,845 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.512641] moveTile calculated motor speeds left=98 right=100 gyroSteer=3.3199999999999363 wallSteer=-4.800000000000001 (+22.3 ms)
2026-07-02 09:47:13,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.533160] moveTile applied motor speed left=98 right=100 (+20.5 ms)
2026-07-02 09:47:13,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.537019] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:13,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.537668] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:13,882 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.550117] moveTile ramp check isBigRamp=False (+12.4 ms)
2026-07-02 09:47:13,883 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9500000000000455 deg, practicalMoveTime: 0.4989852888774564 sec
2026-07-02 09:47:13,884 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.9 ms
2026-07-02 09:47:13,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.552815] moveTile loop end practicalMoveTime=0.499 (+2.7 ms)
2026-07-02 09:47:13,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.553185] moveTile loop start (+0.4 ms)
2026-07-02 09:47:13,892 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1897d0>
2026-07-02 09:47:13,898 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:13,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.571969] moveTile calculated motor speeds left=93 right=100 gyroSteer=-1.6399999999998727 wallSteer=-5.199999999999999 (+18.8 ms)
2026-07-02 09:47:13,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.592140] moveTile applied motor speed left=93 right=100 (+20.2 ms)
2026-07-02 09:47:13,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.595859] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:13,929 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.596491] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:13,939 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.607109] moveTile ramp check isBigRamp=False (+10.6 ms)
2026-07-02 09:47:13,941 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.410000000000025 deg, practicalMoveTime: 0.5552112019057232 sec
2026-07-02 09:47:13,943 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.1 ms
2026-07-02 09:47:13,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.611075] moveTile loop end practicalMoveTime=0.555 (+4.0 ms)
2026-07-02 09:47:13,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.611523] moveTile loop start (+0.4 ms)
2026-07-02 09:47:13,950 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:13,956 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:13,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.628510] moveTile calculated motor speeds left=100 right=99 gyroSteer=5.279999999999973 wallSteer=-5.199999999999999 (+17.0 ms)
2026-07-02 09:47:13,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.650517] moveTile applied motor speed left=100 right=99 (+22.0 ms)
2026-07-02 09:47:13,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.655496] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:47:13,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.656257] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:13,996 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.663431] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:47:13,997 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8500000000000227 deg, practicalMoveTime: 0.6097057844400576 sec
2026-07-02 09:47:13,998 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.3 ms
2026-07-02 09:47:13,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.666506] moveTile loop end practicalMoveTime=0.610 (+3.1 ms)
2026-07-02 09:47:13,999 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.666916] moveTile loop start (+0.4 ms)
2026-07-02 09:47:14,007 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:14,013 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.5, S=255.0, V=254.9
2026-07-02 09:47:14,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.690559] moveTile calculated motor speeds left=93 right=100 gyroSteer=-2.160000000000082 wallSteer=-4.800000000000001 (+23.6 ms)
2026-07-02 09:47:14,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.712278] moveTile applied motor speed left=93 right=100 (+21.7 ms)
2026-07-02 09:47:14,049 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.716731] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:14,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.717424] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:14,055 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.723133] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:14,057 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4800000000000182 deg, practicalMoveTime: 0.6682730758237171 sec
2026-07-02 09:47:14,057 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:47:14,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.725684] moveTile loop end practicalMoveTime=0.668 (+2.6 ms)
2026-07-02 09:47:14,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.726065] moveTile loop start (+0.4 ms)
2026-07-02 09:47:14,065 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c31d0>
2026-07-02 09:47:14,071 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.9
2026-07-02 09:47:14,079 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.746627] moveTile calculated motor speeds left=100 right=97 gyroSteer=7.440000000000055 wallSteer=-4.800000000000001 (+20.6 ms)
2026-07-02 09:47:14,099 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.766534] moveTile applied motor speed left=100 right=97 (+19.9 ms)
2026-07-02 09:47:14,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.772498] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:47:14,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.773171] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:14,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.787720] moveTile ramp check isBigRamp=False (+14.5 ms)
2026-07-02 09:47:14,121 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.9300000000000068 deg, practicalMoveTime: 0.7321592190961471 sec
2026-07-02 09:47:14,122 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.7 ms
2026-07-02 09:47:14,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.790770] moveTile loop end practicalMoveTime=0.732 (+3.1 ms)
2026-07-02 09:47:14,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.791168] moveTile loop start (+0.4 ms)
2026-07-02 09:47:14,129 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:14,135 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:47:14,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.811948] moveTile calculated motor speeds left=97 right=100 gyroSteer=2.3600000000001273 wallSteer=-4.800000000000001 (+20.8 ms)
2026-07-02 09:47:14,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.831844] moveTile applied motor speed left=97 right=100 (+19.9 ms)
2026-07-02 09:47:14,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.836956] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:47:14,170 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.837819] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:14,175 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.842577] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:47:14,175 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.6200000000000045 deg, practicalMoveTime: 0.7855898938085353 sec
2026-07-02 09:47:14,176 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.6 ms
2026-07-02 09:47:14,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.844442] moveTile loop end practicalMoveTime=0.786 (+1.9 ms)
2026-07-02 09:47:14,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.844843] moveTile loop start (+0.4 ms)
2026-07-02 09:47:14,186 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:14,192 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.2, S=255.0, V=251.4
2026-07-02 09:47:14,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.867290] moveTile calculated motor speeds left=99 right=100 gyroSteer=3.9200000000000728 wallSteer=-4.800000000000001 (+22.4 ms)
2026-07-02 09:47:14,220 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.887381] moveTile applied motor speed left=99 right=100 (+20.1 ms)
2026-07-02 09:47:14,223 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.891105] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:14,224 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.891757] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:14,230 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.897973] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:14,231 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3000000000000114 deg, practicalMoveTime: 0.8405696067737812 sec
2026-07-02 09:47:14,232 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:47:14,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.899975] moveTile loop end practicalMoveTime=0.841 (+2.0 ms)
2026-07-02 09:47:14,233 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.900468] moveTile loop start (+0.5 ms)
2026-07-02 09:47:14,246 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:14,252 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.8, S=255.0, V=254.7
2026-07-02 09:47:14,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.926748] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.11999999999989086 wallSteer=-3.1999999999999993 (+26.3 ms)
2026-07-02 09:47:14,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.948456] moveTile applied motor speed left=96 right=100 (+21.7 ms)
2026-07-02 09:47:14,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.952302] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:14,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.953483] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:47:14,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.958101] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:14,291 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.7336642788798451 CM
2026-07-02 09:47:14,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.978067] moveTile finished by time control (+20.0 ms)
2026-07-02 09:47:14,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [267.978857] moveTile start final forward adjustment (+20.8 ms)
2026-07-02 09:47:14,343 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:47:14,356 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:10.0
2026-07-02 09:47:14,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [268.045780] moveTile finished final forward adjustment (+66.9 ms)
2026-07-02 09:47:14,525 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.315636809291416 cm
2026-07-02 09:47:14,526 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 82.55484463010433 cm
2026-07-02 09:47:14,527 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 106.01146602217506 cm
2026-07-02 09:47:14,529 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 10.503410675659477 cm
2026-07-02 09:47:14,533 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 10.503410675659477 cm, TSD10 distance: 0.0 cm
2026-07-02 09:47:14,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [268.202146] moveTile updated map and detected walls (+156.4 ms)
2026-07-02 09:47:14,537 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:14,538 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [268.205784] moveTile finished (+160.0 ms)
2026-07-02 09:47:14,579 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 2)
2026-07-02 09:47:14,607 - __main__ - [main.py:110] - INFO - Current position: (21, 21, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | @   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:14,617 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [268.285271] moveTile start direction=absDirection.SOUTH position=(21, 21, 0) front=absDirection.WEST
2026-07-02 09:47:14,625 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [268.292565] moveTile after initial toggle check (+7.3 ms)
2026-07-02 09:47:14,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [268.294756] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:47:14,628 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 21, 0) facing absDirection.WEST
2026-07-02 09:47:14,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [268.296641] moveTile start heading change target=180 (+1.9 ms)
2026-07-02 09:47:14,652 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.42000000000002 target: 180
2026-07-02 09:47:15,798 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 174.10000000000002, diff: 5.899999999999977
2026-07-02 09:47:15,864 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.11 deg
2026-07-02 09:47:15,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [269.533043] moveTile finished heading change (+1236.4 ms)
2026-07-02 09:47:15,866 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [269.533935] Adjustment after ramp completed (+0.9 ms)
2026-07-02 09:47:15,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [269.534482] moveTile updated front direction (+0.5 ms)
2026-07-02 09:47:15,886 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [269.553849] moveTile stopped motors before alignment (+19.4 ms)
2026-07-02 09:47:16,058 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 21.07488553878691 cm
2026-07-02 09:47:16,059 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 75.93967397912719 cm
2026-07-02 09:47:16,060 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 99.76102838553143 cm
2026-07-02 09:47:16,062 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 17.105777359094294 cm
2026-07-02 09:47:16,062 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [269.730356] moveTile start position adjustment using LiDAR for back wall. (+176.5 ms)
2026-07-02 09:47:16,082 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:16,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [269.921466] moveTile finished backward adjustment (+191.1 ms)
2026-07-02 09:47:16,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.000367] moveTile ready for forward move (+78.9 ms)
2026-07-02 09:47:16,360 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:16,361 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.028668] moveTile initialized movement targetSteps=1 (+28.3 ms)
2026-07-02 09:47:16,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.030000] moveTile loop start (+1.3 ms)
2026-07-02 09:47:16,368 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:16,375 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=224.9, V=245.5
2026-07-02 09:47:16,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.050111] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.840000000000032 wallSteer=-0.3999999999999986 (+20.1 ms)
2026-07-02 09:47:16,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.073106] moveTile applied motor speed left=100 right=97 (+23.0 ms)
2026-07-02 09:47:16,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.080882] moveTile tile color check tempTileColor=E (+7.8 ms)
2026-07-02 09:47:16,414 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.081748] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:16,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.087757] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:47:16,421 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4200000000000159 deg, practicalMoveTime: 0.060866627888715094 sec
2026-07-02 09:47:16,422 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:47:16,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.090607] moveTile loop end practicalMoveTime=0.061 (+2.8 ms)
2026-07-02 09:47:16,423 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.091247] moveTile loop start (+0.6 ms)
2026-07-02 09:47:16,430 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:16,435 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=214.9, V=242.4
2026-07-02 09:47:16,441 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.108634] moveTile calculated motor speeds left=100 right=96 gyroSteer=4.080000000000041 wallSteer=-0.3999999999999986 (+17.4 ms)
2026-07-02 09:47:16,468 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.136113] moveTile applied motor speed left=100 right=96 (+27.5 ms)
2026-07-02 09:47:16,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.140138] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:16,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.141404] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:16,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.146292] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:16,479 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.20000000000004547 deg, practicalMoveTime: 0.11850635240924279 sec
2026-07-02 09:47:16,480 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.5 ms
2026-07-02 09:47:16,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.148487] moveTile loop end practicalMoveTime=0.119 (+2.2 ms)
2026-07-02 09:47:16,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.148960] moveTile loop start (+0.5 ms)
2026-07-02 09:47:16,488 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:16,493 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=208.0, V=242.0
2026-07-02 09:47:16,500 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.167656] moveTile calculated motor speeds left=100 right=97 gyroSteer=4.400000000000091 wallSteer=-2.3999999999999986 (+18.7 ms)
2026-07-02 09:47:16,524 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.191631] moveTile applied motor speed left=100 right=97 (+24.0 ms)
2026-07-02 09:47:16,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.195443] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:16,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.196136] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:16,532 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.199983] moveTile ramp check isBigRamp=False (+3.8 ms)
2026-07-02 09:47:16,534 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.90000000000003 deg, practicalMoveTime: 0.1720863165022604 sec
2026-07-02 09:47:16,534 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:47:16,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.202561] moveTile loop end practicalMoveTime=0.172 (+2.6 ms)
2026-07-02 09:47:16,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.202922] moveTile loop start (+0.4 ms)
2026-07-02 09:47:16,544 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2fd0>
2026-07-02 09:47:16,551 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=192.7, V=242.6
2026-07-02 09:47:16,558 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.225731] moveTile calculated motor speeds left=100 right=93 gyroSteer=6.1200000000000045 wallSteer=0.0 (+22.8 ms)
2026-07-02 09:47:16,577 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.244857] moveTile applied motor speed left=100 right=93 (+19.1 ms)
2026-07-02 09:47:16,581 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.249083] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:16,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.250146] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:16,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.255640] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:16,589 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.2269390976394308 sec
2026-07-02 09:47:16,590 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:47:16,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.258664] moveTile loop end practicalMoveTime=0.227 (+3.0 ms)
2026-07-02 09:47:16,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.259220] moveTile loop start (+0.6 ms)
2026-07-02 09:47:16,597 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:16,603 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.5, S=182.4, V=243.3
2026-07-02 09:47:16,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.278082] moveTile calculated motor speeds left=100 right=96 gyroSteer=6.0 wallSteer=-2.0 (+18.9 ms)
2026-07-02 09:47:16,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.305522] moveTile applied motor speed left=100 right=96 (+27.4 ms)
2026-07-02 09:47:16,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.309782] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:47:16,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.310504] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:16,648 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.315668] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:16,649 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9000000000000341 deg, practicalMoveTime: 0.28571490007170164 sec
2026-07-02 09:47:16,650 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:47:16,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.317924] moveTile loop end practicalMoveTime=0.286 (+2.3 ms)
2026-07-02 09:47:16,650 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.318366] moveTile loop start (+0.4 ms)
2026-07-02 09:47:16,657 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:16,662 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.5, S=179.9, V=244.1
2026-07-02 09:47:16,667 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.335063] moveTile calculated motor speeds left=100 right=90 gyroSteer=8.88000000000011 wallSteer=0.3999999999999986 (+16.7 ms)
2026-07-02 09:47:16,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.360308] moveTile applied motor speed left=100 right=90 (+25.2 ms)
2026-07-02 09:47:16,696 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.364313] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:16,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.364922] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:16,702 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.370180] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:47:16,704 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.410000000000025 deg, practicalMoveTime: 0.3399039048645314 sec
2026-07-02 09:47:16,705 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.0 ms
2026-07-02 09:47:16,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.372964] moveTile loop end practicalMoveTime=0.340 (+2.8 ms)
2026-07-02 09:47:16,705 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.373348] moveTile loop start (+0.4 ms)
2026-07-02 09:47:16,714 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:16,720 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.5, S=169.6, V=231.4
2026-07-02 09:47:16,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.393901] moveTile calculated motor speeds left=100 right=97 gyroSteer=3.2799999999999727 wallSteer=-1.1999999999999993 (+20.6 ms)
2026-07-02 09:47:16,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.414107] moveTile applied motor speed left=100 right=97 (+20.2 ms)
2026-07-02 09:47:16,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.418849] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:47:16,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.419403] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:16,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.424842] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:47:16,758 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.39356798524228953 sec
2026-07-02 09:47:16,760 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.1 ms
2026-07-02 09:47:16,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.428264] moveTile loop end practicalMoveTime=0.394 (+3.4 ms)
2026-07-02 09:47:16,761 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.429203] moveTile loop start (+0.9 ms)
2026-07-02 09:47:16,772 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:16,779 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=101.3, S=158.5, V=219.3
2026-07-02 09:47:16,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.454739] moveTile calculated motor speeds left=100 right=93 gyroSteer=-0.9199999999999591 wallSteer=7.199999999999999 (+25.5 ms)
2026-07-02 09:47:16,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.479348] moveTile applied motor speed left=100 right=93 (+24.6 ms)
2026-07-02 09:47:16,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.485056] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:47:16,818 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.485747] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:16,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.492483] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:47:16,826 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7100000000000364 deg, practicalMoveTime: 0.4597280363835473 sec
2026-07-02 09:47:16,827 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.4 ms
2026-07-02 09:47:16,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.495221] moveTile loop end practicalMoveTime=0.460 (+2.7 ms)
2026-07-02 09:47:16,828 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.495601] moveTile loop start (+0.4 ms)
2026-07-02 09:47:16,833 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:16,840 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.9, S=162.4, V=221.3
2026-07-02 09:47:16,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.514289] moveTile calculated motor speeds left=88 right=100 gyroSteer=-4.7999999999999545 wallSteer=-7.199999999999999 (+18.7 ms)
2026-07-02 09:47:16,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.534376] moveTile applied motor speed left=88 right=100 (+20.1 ms)
2026-07-02 09:47:16,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.538092] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:16,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.538672] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:16,876 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.544221] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:16,877 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.68 deg, practicalMoveTime: 0.510160885513506 sec
2026-07-02 09:47:16,878 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.1 ms
2026-07-02 09:47:16,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.546313] moveTile loop end practicalMoveTime=0.510 (+2.1 ms)
2026-07-02 09:47:16,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.546745] moveTile loop start (+0.4 ms)
2026-07-02 09:47:16,891 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:16,898 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.7, S=166.3, V=228.0
2026-07-02 09:47:16,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.570396] moveTile calculated motor speeds left=93 right=100 gyroSteer=-5.319999999999936 wallSteer=-1.6000000000000014 (+23.7 ms)
2026-07-02 09:47:16,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.595935] moveTile applied motor speed left=93 right=100 (+25.5 ms)
2026-07-02 09:47:16,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.600349] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:16,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.601448] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:16,940 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.608109] moveTile ramp check isBigRamp=False (+6.7 ms)
2026-07-02 09:47:16,942 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8799999999999955 deg, practicalMoveTime: 0.5737527323218884 sec
2026-07-02 09:47:16,942 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.5 ms
2026-07-02 09:47:16,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.611071] moveTile loop end practicalMoveTime=0.574 (+3.0 ms)
2026-07-02 09:47:16,944 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.612212] moveTile loop start (+1.1 ms)
2026-07-02 09:47:16,957 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:16,963 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=197.1, V=246.5
2026-07-02 09:47:16,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.637547] moveTile calculated motor speeds left=94 right=100 gyroSteer=-4.039999999999964 wallSteer=-1.6000000000000014 (+25.3 ms)
2026-07-02 09:47:16,997 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.664593] moveTile applied motor speed left=94 right=100 (+27.0 ms)
2026-07-02 09:47:17,000 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.668359] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:17,001 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.668974] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:17,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.675550] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:17,009 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.82000000000005 deg, practicalMoveTime: 0.6399745963856776 sec
2026-07-02 09:47:17,009 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.9 ms
2026-07-02 09:47:17,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.677610] moveTile loop end practicalMoveTime=0.640 (+2.1 ms)
2026-07-02 09:47:17,010 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.677976] moveTile loop start (+0.4 ms)
2026-07-02 09:47:17,017 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:17,023 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=210.7, V=249.9
2026-07-02 09:47:17,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.697659] moveTile calculated motor speeds left=95 right=100 gyroSteer=-2.240000000000009 wallSteer=-2.0 (+19.7 ms)
2026-07-02 09:47:17,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.719793] moveTile applied motor speed left=95 right=100 (+22.1 ms)
2026-07-02 09:47:17,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.725276] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:47:17,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.725959] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:17,066 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.734182] moveTile ramp check isBigRamp=False (+8.2 ms)
2026-07-02 09:47:17,067 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.0200000000000387 deg, practicalMoveTime: 0.6978945619079379 sec
2026-07-02 09:47:17,068 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.7 ms
2026-07-02 09:47:17,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.736498] moveTile loop end practicalMoveTime=0.698 (+2.3 ms)
2026-07-02 09:47:17,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.736883] moveTile loop start (+0.4 ms)
2026-07-02 09:47:17,079 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:17,085 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=222.3, V=250.4
2026-07-02 09:47:17,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.759475] moveTile calculated motor speeds left=100 right=99 gyroSteer=1.6800000000000637 wallSteer=-1.6000000000000014 (+22.6 ms)
2026-07-02 09:47:17,112 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.780363] moveTile applied motor speed left=100 right=99 (+20.9 ms)
2026-07-02 09:47:17,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.783977] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:17,117 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.784547] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:17,122 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.789755] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:17,123 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.35000000000002274 deg, practicalMoveTime: 0.7531720701918629 sec
2026-07-02 09:47:17,124 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:47:17,124 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.792257] moveTile loop end practicalMoveTime=0.753 (+2.5 ms)
2026-07-02 09:47:17,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.792639] moveTile loop start (+0.4 ms)
2026-07-02 09:47:17,129 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:17,135 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.7, S=218.4, V=250.1
2026-07-02 09:47:17,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.812373] moveTile calculated motor speeds left=100 right=98 gyroSteer=0.9600000000000364 wallSteer=0.3999999999999986 (+19.7 ms)
2026-07-02 09:47:17,172 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.839782] moveTile applied motor speed left=100 right=98 (+27.4 ms)
2026-07-02 09:47:17,176 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.843462] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:17,176 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.843960] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:17,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.848625] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:47:17,182 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6899999999999977 deg, practicalMoveTime: 0.8109896279867582 sec
2026-07-02 09:47:17,182 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:47:17,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.850577] moveTile loop end practicalMoveTime=0.811 (+2.0 ms)
2026-07-02 09:47:17,183 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.850966] moveTile loop start (+0.4 ms)
2026-07-02 09:47:17,190 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:17,197 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=108.3, S=195.8, V=225.0
2026-07-02 09:47:17,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.870641] moveTile calculated motor speeds left=100 right=95 gyroSteer=6.0 wallSteer=-1.6000000000000014 (+19.7 ms)
2026-07-02 09:47:17,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.890094] moveTile applied motor speed left=100 right=95 (+19.5 ms)
2026-07-02 09:47:17,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.894558] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:17,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.895512] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:17,234 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.901887] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:17,235 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.3107060591127131 CM
2026-07-02 09:47:17,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.926374] moveTile finished by time control (+24.5 ms)
2026-07-02 09:47:17,259 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.927099] moveTile start final forward adjustment (+25.2 ms)
2026-07-02 09:47:17,292 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [270.959705] moveTile finished final forward adjustment (+32.6 ms)
2026-07-02 09:47:17,434 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 50.40599173565045 cm
2026-07-02 09:47:17,435 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 74.882287580364 cm
2026-07-02 09:47:17,436 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 71.90237778972414 cm
2026-07-02 09:47:17,439 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 17.497334665236846 cm
2026-07-02 09:47:17,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.108067] moveTile updated map and detected walls (+148.4 ms)
2026-07-02 09:47:17,444 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:17,445 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.112410] moveTile finished (+152.7 ms)
2026-07-02 09:47:17,483 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (2, 1)
2026-07-02 09:47:17,515 - __main__ - [main.py:110] - INFO - Current position: (21, 22, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | @   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:17,521 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [271.189153] moveTile start direction=absDirection.SOUTH position=(21, 22, 0) front=absDirection.SOUTH
2026-07-02 09:47:17,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.194433] moveTile after initial toggle check (+5.3 ms)
2026-07-02 09:47:17,529 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.196628] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:47:17,529 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 22, 0) facing absDirection.SOUTH
2026-07-02 09:47:17,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.197651] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:47:17,556 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 180.7 target: 180
2026-07-02 09:47:17,580 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 180.7, diff: 0.6999999999999886
2026-07-02 09:47:17,627 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 180.82 deg
2026-07-02 09:47:17,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.295550] moveTile finished heading change (+97.9 ms)
2026-07-02 09:47:17,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.296270] Adjustment after ramp completed (+0.7 ms)
2026-07-02 09:47:17,629 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.296727] moveTile updated front direction (+0.5 ms)
2026-07-02 09:47:17,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.317334] moveTile stopped motors before alignment (+20.6 ms)
2026-07-02 09:47:17,818 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 50.01793048508359 cm
2026-07-02 09:47:17,820 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 73.85014385540234 cm
2026-07-02 09:47:17,821 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 72.1907518981988 cm
2026-07-02 09:47:17,824 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 17.333787366778253 cm
2026-07-02 09:47:17,825 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.492654] moveTile start position adjustment using LiDAR for back wall. (+175.3 ms)
2026-07-02 09:47:17,852 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:18,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.709487] moveTile finished backward adjustment (+216.8 ms)
2026-07-02 09:47:18,120 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.787545] moveTile ready for forward move (+78.1 ms)
2026-07-02 09:47:18,147 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:18,147 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.815235] moveTile initialized movement targetSteps=1 (+27.7 ms)
2026-07-02 09:47:18,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.816574] moveTile loop start (+1.3 ms)
2026-07-02 09:47:18,156 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:18,162 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.1, S=153.9, V=128.3
2026-07-02 09:47:18,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.835992] moveTile calculated motor speeds left=92 right=100 gyroSteer=-6.639999999999986 wallSteer=-0.8000000000000007 (+19.4 ms)
2026-07-02 09:47:18,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.861770] moveTile applied motor speed left=92 right=100 (+25.8 ms)
2026-07-02 09:47:18,200 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.868292] moveTile tile color check tempTileColor=E (+6.5 ms)
2026-07-02 09:47:18,201 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.869006] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:18,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.877168] moveTile ramp check isBigRamp=False (+8.2 ms)
2026-07-02 09:47:18,211 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0400000000000205 deg, practicalMoveTime: 0.06395287638058934 sec
2026-07-02 09:47:18,211 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.6 ms
2026-07-02 09:47:18,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.879666] moveTile loop end practicalMoveTime=0.064 (+2.5 ms)
2026-07-02 09:47:18,212 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.880111] moveTile loop start (+0.4 ms)
2026-07-02 09:47:18,221 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:47:18,227 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=159.4, S=159.7, V=125.6
2026-07-02 09:47:18,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.903290] moveTile calculated motor speeds left=89 right=100 gyroSteer=-9.639999999999986 wallSteer=-0.8000000000000007 (+23.2 ms)
2026-07-02 09:47:18,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.930755] moveTile applied motor speed left=89 right=100 (+27.5 ms)
2026-07-02 09:47:18,267 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.934550] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:18,268 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.935605] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:18,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.941884] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:18,275 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.12754754728587803 sec
2026-07-02 09:47:18,276 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.3 ms
2026-07-02 09:47:18,276 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.943973] moveTile loop end practicalMoveTime=0.128 (+2.1 ms)
2026-07-02 09:47:18,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.944509] moveTile loop start (+0.5 ms)
2026-07-02 09:47:18,282 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:18,288 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=158.7, S=157.6, V=129.2
2026-07-02 09:47:18,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.961073] moveTile calculated motor speeds left=95 right=100 gyroSteer=-5.079999999999927 wallSteer=0.8000000000000007 (+16.6 ms)
2026-07-02 09:47:18,314 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.981457] moveTile applied motor speed left=95 right=100 (+20.4 ms)
2026-07-02 09:47:18,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.987011] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:47:18,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.987746] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:18,326 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.993544] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:18,327 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.27000000000003865 deg, practicalMoveTime: 0.1789814931005469 sec
2026-07-02 09:47:18,328 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:47:18,328 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.996267] moveTile loop end practicalMoveTime=0.179 (+2.7 ms)
2026-07-02 09:47:18,329 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [271.996816] moveTile loop start (+0.5 ms)
2026-07-02 09:47:18,336 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:18,342 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=146.5, S=150.6, V=145.0
2026-07-02 09:47:18,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.014646] moveTile calculated motor speeds left=96 right=100 gyroSteer=-2.119999999999891 wallSteer=-1.6000000000000014 (+17.8 ms)
2026-07-02 09:47:18,366 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.034177] moveTile applied motor speed left=96 right=100 (+19.5 ms)
2026-07-02 09:47:18,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.041262] moveTile tile color check tempTileColor=E (+7.1 ms)
2026-07-02 09:47:18,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.041975] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:18,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.046283] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:18,379 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.48 deg, practicalMoveTime: 0.23042175921761082 sec
2026-07-02 09:47:18,380 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.9 ms
2026-07-02 09:47:18,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.048495] moveTile loop end practicalMoveTime=0.230 (+2.2 ms)
2026-07-02 09:47:18,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.048911] moveTile loop start (+0.4 ms)
2026-07-02 09:47:18,386 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:18,392 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.7, S=161.7, V=128.0
2026-07-02 09:47:18,400 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.067852] moveTile calculated motor speeds left=97 right=100 gyroSteer=-3.0 wallSteer=0.8000000000000007 (+18.9 ms)
2026-07-02 09:47:18,420 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.087731] moveTile applied motor speed left=97 right=100 (+19.9 ms)
2026-07-02 09:47:18,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.092227] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:18,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.092982] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:18,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.099548] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:18,433 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.0 deg, practicalMoveTime: 0.2831481025168736 sec
2026-07-02 09:47:18,433 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.1 ms
2026-07-02 09:47:18,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.101586] moveTile loop end practicalMoveTime=0.283 (+2.0 ms)
2026-07-02 09:47:18,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.102048] moveTile loop start (+0.5 ms)
2026-07-02 09:47:18,445 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:18,450 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.7, S=161.8, V=127.9
2026-07-02 09:47:18,455 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.123356] moveTile calculated motor speeds left=97 right=100 gyroSteer=-3.3999999999999773 wallSteer=0.8000000000000007 (+21.3 ms)
2026-07-02 09:47:18,475 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.143158] moveTile applied motor speed left=97 right=100 (+19.8 ms)
2026-07-02 09:47:18,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.147054] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:18,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.147622] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:18,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.155612] moveTile ramp check isBigRamp=False (+8.0 ms)
2026-07-02 09:47:18,489 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.40000000000003 deg, practicalMoveTime: 0.3390913850406567 sec
2026-07-02 09:47:18,490 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.6 ms
2026-07-02 09:47:18,490 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.158156] moveTile loop end practicalMoveTime=0.339 (+2.5 ms)
2026-07-02 09:47:18,491 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.158514] moveTile loop start (+0.4 ms)
2026-07-02 09:47:18,497 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:18,502 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=161.1, S=162.1, V=128.6
2026-07-02 09:47:18,515 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.182674] moveTile calculated motor speeds left=95 right=100 gyroSteer=-5.2000000000000455 wallSteer=0.8000000000000007 (+24.2 ms)
2026-07-02 09:47:18,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.209777] moveTile applied motor speed left=95 right=100 (+27.1 ms)
2026-07-02 09:47:18,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.213480] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:47:18,546 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.214096] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:18,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.224426] moveTile ramp check isBigRamp=False (+10.3 ms)
2026-07-02 09:47:18,558 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7300000000000182 deg, practicalMoveTime: 0.4067388347930491 sec
2026-07-02 09:47:18,558 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 67.4 ms
2026-07-02 09:47:18,559 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.226901] moveTile loop end practicalMoveTime=0.407 (+2.5 ms)
2026-07-02 09:47:18,560 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.227996] moveTile loop start (+1.1 ms)
2026-07-02 09:47:18,570 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:47:18,577 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.3, S=159.8, V=126.9
2026-07-02 09:47:18,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.249411] moveTile calculated motor speeds left=96 right=100 gyroSteer=-4.279999999999973 wallSteer=1.1999999999999993 (+21.4 ms)
2026-07-02 09:47:18,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.269433] moveTile applied motor speed left=96 right=100 (+20.0 ms)
2026-07-02 09:47:18,608 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.276034] moveTile tile color check tempTileColor=R (+6.6 ms)
2026-07-02 09:47:18,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.276997] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:18,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.283324] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:18,617 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.45000000000005 deg, practicalMoveTime: 0.4653902023227839 sec
2026-07-02 09:47:18,618 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:47:18,619 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.286855] moveTile loop end practicalMoveTime=0.465 (+3.5 ms)
2026-07-02 09:47:18,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.287427] moveTile loop start (+0.6 ms)
2026-07-02 09:47:18,627 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2fd0>
2026-07-02 09:47:18,633 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=161.1, S=162.2, V=128.5
2026-07-02 09:47:18,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.307962] moveTile calculated motor speeds left=100 right=99 gyroSteer=-7.079999999999927 wallSteer=7.600000000000001 (+20.5 ms)
2026-07-02 09:47:18,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.333705] moveTile applied motor speed left=100 right=99 (+25.7 ms)
2026-07-02 09:47:18,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.337435] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:47:18,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.337967] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:18,675 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.342501] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:18,676 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.5237870253948572 sec
2026-07-02 09:47:18,678 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:47:18,678 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.345963] moveTile loop end practicalMoveTime=0.524 (+3.5 ms)
2026-07-02 09:47:18,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.346616] moveTile loop start (+0.7 ms)
2026-07-02 09:47:18,686 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:47:18,692 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.4, S=161.0, V=127.7
2026-07-02 09:47:18,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.366378] moveTile calculated motor speeds left=97 right=100 gyroSteer=-8.079999999999927 wallSteer=5.199999999999999 (+19.8 ms)
2026-07-02 09:47:18,722 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.389420] moveTile applied motor speed left=97 right=100 (+23.0 ms)
2026-07-02 09:47:18,726 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.394259] moveTile tile color check tempTileColor=R (+4.8 ms)
2026-07-02 09:47:18,728 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.395526] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:18,736 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.403814] moveTile ramp check isBigRamp=False (+8.3 ms)
2026-07-02 09:47:18,738 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.28000000000002956 deg, practicalMoveTime: 0.5838406105032663 sec
2026-07-02 09:47:18,739 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.8 ms
2026-07-02 09:47:18,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.407663] moveTile loop end practicalMoveTime=0.584 (+3.8 ms)
2026-07-02 09:47:18,740 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.408227] moveTile loop start (+0.6 ms)
2026-07-02 09:47:18,749 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:47:18,755 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=160.6, S=161.5, V=127.9
2026-07-02 09:47:18,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.427945] moveTile calculated motor speeds left=89 right=100 gyroSteer=-10.67999999999995 wallSteer=0.3999999999999986 (+19.7 ms)
2026-07-02 09:47:18,780 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.447963] moveTile applied motor speed left=89 right=100 (+20.0 ms)
2026-07-02 09:47:18,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.451706] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:47:18,784 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.452352] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:18,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.460137] moveTile ramp check isBigRamp=False (+7.8 ms)
2026-07-02 09:47:18,793 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.6384788966281048 sec
2026-07-02 09:47:18,794 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:47:18,794 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.462212] moveTile loop end practicalMoveTime=0.638 (+2.1 ms)
2026-07-02 09:47:18,795 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.462587] moveTile loop start (+0.4 ms)
2026-07-02 09:47:18,800 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d1bc250>
2026-07-02 09:47:18,806 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=159.2, S=157.8, V=126.4
2026-07-02 09:47:18,811 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.478652] moveTile calculated motor speeds left=89 right=100 gyroSteer=-10.0 wallSteer=-0.3999999999999986 (+16.1 ms)
2026-07-02 09:47:18,833 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.501270] moveTile applied motor speed left=89 right=100 (+22.6 ms)
2026-07-02 09:47:18,837 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.505133] moveTile tile color check tempTileColor=R (+3.9 ms)
2026-07-02 09:47:18,838 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.505840] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:18,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.510932] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:18,844 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5100000000000477 deg, practicalMoveTime: 0.6888690512101683 sec
2026-07-02 09:47:18,845 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:47:18,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.513662] moveTile loop end practicalMoveTime=0.689 (+2.7 ms)
2026-07-02 09:47:18,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.514055] moveTile loop start (+0.4 ms)
2026-07-02 09:47:18,857 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:47:18,863 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=159.8, S=160.0, V=125.7
2026-07-02 09:47:18,869 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.536859] moveTile calculated motor speeds left=93 right=100 gyroSteer=-5.559999999999945 wallSteer=-0.8000000000000007 (+22.8 ms)
2026-07-02 09:47:18,888 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.556083] moveTile applied motor speed left=93 right=100 (+19.2 ms)
2026-07-02 09:47:18,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.561904] moveTile tile color check tempTileColor=R (+5.8 ms)
2026-07-02 09:47:18,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.562625] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:18,900 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.567873] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:18,901 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4500000000000455 deg, practicalMoveTime: 0.7449264443003835 sec
2026-07-02 09:47:18,902 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.8 ms
2026-07-02 09:47:18,902 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.570402] moveTile loop end practicalMoveTime=0.745 (+2.5 ms)
2026-07-02 09:47:18,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.570836] moveTile loop start (+0.4 ms)
2026-07-02 09:47:18,914 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:18,920 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=158.4, S=156.1, V=127.7
2026-07-02 09:47:18,927 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.594910] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.31999999999993634 wallSteer=-2.8000000000000007 (+24.1 ms)
2026-07-02 09:47:18,953 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.620760] moveTile applied motor speed left=96 right=100 (+25.9 ms)
2026-07-02 09:47:18,957 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.625064] moveTile tile color check tempTileColor=R (+4.3 ms)
2026-07-02 09:47:18,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.625847] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:18,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.631672] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:18,965 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.8081072212596172 sec
2026-07-02 09:47:18,966 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.3 ms
2026-07-02 09:47:18,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.634793] moveTile loop end practicalMoveTime=0.808 (+3.1 ms)
2026-07-02 09:47:18,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.635733] moveTile loop start (+0.9 ms)
2026-07-02 09:47:18,975 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:18,981 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=158.5, S=156.5, V=128.5
2026-07-02 09:47:18,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.656966] moveTile calculated motor speeds left=96 right=100 gyroSteer=-0.4800000000000182 wallSteer=-3.1999999999999993 (+21.2 ms)
2026-07-02 09:47:19,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.683394] moveTile applied motor speed left=96 right=100 (+26.4 ms)
2026-07-02 09:47:19,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.687933] moveTile tile color check tempTileColor=R (+4.5 ms)
2026-07-02 09:47:19,021 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.689154] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:47:19,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.694933] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:19,028 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.18534563753400907 CM
2026-07-02 09:47:19,050 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.718118] moveTile finished by time control (+23.2 ms)
2026-07-02 09:47:19,051 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.718939] moveTile start final forward adjustment (+24.0 ms)
2026-07-02 09:47:19,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.750163] moveTile finished final forward adjustment (+31.2 ms)
2026-07-02 09:47:19,225 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 76.44707906915647 cm
2026-07-02 09:47:19,226 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 74.73047818859754 cm
2026-07-02 09:47:19,227 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 45.32884689185313 cm
2026-07-02 09:47:19,231 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 17.097395968585918 cm
2026-07-02 09:47:19,232 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.900364] moveTile updated map and detected walls (+150.2 ms)
2026-07-02 09:47:19,236 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: R
2026-07-02 09:47:19,240 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (21, 23, 0), Tile type: R, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.NO_WALL: 1>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:47:19,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.909568] moveTile finished (+159.4 ms)
2026-07-02 09:47:19,281 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (1, 2)
2026-07-02 09:47:19,312 - __main__ - [main.py:110] - INFO - Current position: (21, 23, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | @   U   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:19,322 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [272.990163] moveTile start direction=absDirection.EAST position=(21, 23, 0) front=absDirection.SOUTH
2026-07-02 09:47:19,327 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.994710] moveTile after initial toggle check (+4.5 ms)
2026-07-02 09:47:19,329 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.996804] moveTile after tile checks isRedTile=True isUnknownTileAhead=True (+2.1 ms)
2026-07-02 09:47:19,330 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.EAST from (21, 23, 0) facing absDirection.SOUTH
2026-07-02 09:47:19,330 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [272.998019] moveTile start heading change target=270 (+1.2 ms)
2026-07-02 09:47:19,357 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 182.29000000000002 target: 270
2026-07-02 09:47:20,126 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 264.37, diff: 5.6299999999999955
2026-07-02 09:47:20,180 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 268.65999999999997 deg
2026-07-02 09:47:20,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [273.848494] moveTile finished heading change (+850.5 ms)
2026-07-02 09:47:20,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [273.848933] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:47:20,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [273.849331] moveTile updated front direction (+0.4 ms)
2026-07-02 09:47:20,202 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [273.869978] moveTile stopped motors before alignment (+20.6 ms)
2026-07-02 09:47:20,345 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 73.87399641709199 cm
2026-07-02 09:47:20,347 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 71.20914085581668 cm
2026-07-02 09:47:20,352 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 47.74303421562255 cm
2026-07-02 09:47:20,353 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 19.794032445891883 cm
2026-07-02 09:47:20,354 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.022036] moveTile start position adjustment using LiDAR for back wall. (+152.1 ms)
2026-07-02 09:47:20,376 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:20,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.206470] moveTile finished backward adjustment (+184.4 ms)
2026-07-02 09:47:20,612 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.279407] moveTile ready for forward move (+72.9 ms)
2026-07-02 09:47:20,642 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.309486] moveTile initialized movement targetSteps=1 (+30.1 ms)
2026-07-02 09:47:20,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.311069] moveTile loop start (+1.6 ms)
2026-07-02 09:47:20,649 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:47:20,655 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=254.5, V=254.9
2026-07-02 09:47:20,662 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.329725] moveTile calculated motor speeds left=100 right=99 gyroSteer=0.8400000000001455 wallSteer=0.0 (+18.7 ms)
2026-07-02 09:47:20,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.352386] moveTile applied motor speed left=100 right=99 (+22.7 ms)
2026-07-02 09:47:20,689 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.357021] moveTile tile color check tempTileColor=R (+4.6 ms)
2026-07-02 09:47:20,690 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.358105] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:20,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.362475] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:47:20,696 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.38 deg, practicalMoveTime: 0.05374140794276715 sec
2026-07-02 09:47:20,696 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.9 ms
2026-07-02 09:47:20,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.365215] moveTile loop end practicalMoveTime=0.054 (+2.7 ms)
2026-07-02 09:47:20,698 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.365780] moveTile loop start (+0.6 ms)
2026-07-02 09:47:20,705 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3110>
2026-07-02 09:47:20,712 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:47:20,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.386449] moveTile calculated motor speeds left=100 right=94 gyroSteer=5.759999999999991 wallSteer=0.0 (+20.7 ms)
2026-07-02 09:47:20,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.406530] moveTile applied motor speed left=100 right=94 (+20.1 ms)
2026-07-02 09:47:20,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.410388] moveTile tile color check tempTileColor=R (+3.9 ms)
2026-07-02 09:47:20,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.411066] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:20,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.416054] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:20,749 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.51000000000005 deg, practicalMoveTime: 0.10668723131923326 sec
2026-07-02 09:47:20,750 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.8 ms
2026-07-02 09:47:20,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.418892] moveTile loop end practicalMoveTime=0.107 (+2.8 ms)
2026-07-02 09:47:20,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.419795] moveTile loop start (+0.9 ms)
2026-07-02 09:47:20,763 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:20,769 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=92.4, S=201.2, V=254.8
2026-07-02 09:47:20,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.444072] moveTile calculated motor speeds left=100 right=89 gyroSteer=10.039999999999964 wallSteer=0.0 (+24.3 ms)
2026-07-02 09:47:20,796 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.463579] moveTile applied motor speed left=100 right=89 (+19.5 ms)
2026-07-02 09:47:20,799 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.467382] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:20,800 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.468048] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:20,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.474213] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:20,807 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.25 deg, practicalMoveTime: 0.16415715891753876 sec
2026-07-02 09:47:20,808 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.9 ms
2026-07-02 09:47:20,808 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.476310] moveTile loop end practicalMoveTime=0.164 (+2.1 ms)
2026-07-02 09:47:20,809 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.476692] moveTile loop start (+0.4 ms)
2026-07-02 09:47:20,816 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:20,822 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=95.8, S=255.0, V=254.9
2026-07-02 09:47:20,827 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.495239] moveTile calculated motor speeds left=100 right=89 gyroSteer=10.320000000000164 wallSteer=0.0 (+18.5 ms)
2026-07-02 09:47:20,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.522981] moveTile applied motor speed left=100 right=89 (+27.7 ms)
2026-07-02 09:47:20,859 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.526571] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:20,859 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.527072] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:20,865 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.532526] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:20,866 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.94 deg, practicalMoveTime: 0.22197974156936798 sec
2026-07-02 09:47:20,867 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.8 ms
2026-07-02 09:47:20,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.534989] moveTile loop end practicalMoveTime=0.222 (+2.5 ms)
2026-07-02 09:47:20,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.535346] moveTile loop start (+0.4 ms)
2026-07-02 09:47:20,873 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:47:20,879 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:20,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.554877] moveTile calculated motor speeds left=100 right=90 gyroSteer=8.320000000000164 wallSteer=1.1999999999999957 (+19.5 ms)
2026-07-02 09:47:20,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.579722] moveTile applied motor speed left=100 right=90 (+24.8 ms)
2026-07-02 09:47:20,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.584339] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:20,917 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.585063] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:20,924 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.591849] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:47:20,925 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.20000000000004547 deg, practicalMoveTime: 0.2802872724614294 sec
2026-07-02 09:47:20,926 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.1 ms
2026-07-02 09:47:20,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.593996] moveTile loop end practicalMoveTime=0.280 (+2.1 ms)
2026-07-02 09:47:20,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.594374] moveTile loop start (+0.4 ms)
2026-07-02 09:47:20,932 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0090>
2026-07-02 09:47:20,938 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.5, S=255.0, V=242.6
2026-07-02 09:47:20,943 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.610732] moveTile calculated motor speeds left=100 right=81 gyroSteer=8.519999999999982 wallSteer=10.399999999999999 (+16.4 ms)
2026-07-02 09:47:20,964 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.632204] moveTile applied motor speed left=100 right=81 (+21.5 ms)
2026-07-02 09:47:20,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.635820] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:20,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.636433] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:20,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.640874] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:47:20,974 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.17000000000001592 deg, practicalMoveTime: 0.3286733948513273 sec
2026-07-02 09:47:20,975 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.3 ms
2026-07-02 09:47:20,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.643963] moveTile loop end practicalMoveTime=0.329 (+3.1 ms)
2026-07-02 09:47:20,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.644649] moveTile loop start (+0.7 ms)
2026-07-02 09:47:20,986 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:20,992 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.2, S=255.0, V=228.9
2026-07-02 09:47:20,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.665686] moveTile calculated motor speeds left=100 right=86 gyroSteer=3.6399999999998727 wallSteer=10.0 (+21.0 ms)
2026-07-02 09:47:21,018 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.685916] moveTile applied motor speed left=100 right=86 (+20.2 ms)
2026-07-02 09:47:21,022 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.690304] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:21,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.692252] moveTile obstacle check escapeFlag=False (+1.9 ms)
2026-07-02 09:47:21,040 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.707985] moveTile ramp check isBigRamp=False (+15.7 ms)
2026-07-02 09:47:21,041 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.3948319918079605 sec
2026-07-02 09:47:21,042 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 65.0 ms
2026-07-02 09:47:21,042 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.710210] moveTile loop end practicalMoveTime=0.395 (+2.2 ms)
2026-07-02 09:47:21,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.711146] moveTile loop start (+0.9 ms)
2026-07-02 09:47:21,056 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:21,063 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=254.9, V=246.7
2026-07-02 09:47:21,070 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.738224] moveTile calculated motor speeds left=100 right=85 gyroSteer=4.880000000000109 wallSteer=10.0 (+27.1 ms)
2026-07-02 09:47:21,093 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.760807] moveTile applied motor speed left=100 right=85 (+22.6 ms)
2026-07-02 09:47:21,097 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.765157] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:47:21,098 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.765807] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:21,104 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.771551] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:21,105 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.36 deg, practicalMoveTime: 0.4579693987129435 sec
2026-07-02 09:47:21,106 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.3 ms
2026-07-02 09:47:21,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.773999] moveTile loop end practicalMoveTime=0.458 (+2.4 ms)
2026-07-02 09:47:21,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.774361] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,113 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:47:21,119 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.7, S=255.0, V=226.1
2026-07-02 09:47:21,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.798990] moveTile calculated motor speeds left=100 right=93 gyroSteer=-3.519999999999982 wallSteer=10.399999999999999 (+24.6 ms)
2026-07-02 09:47:21,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.820898] moveTile applied motor speed left=100 right=93 (+21.9 ms)
2026-07-02 09:47:21,157 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.825059] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:21,158 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.826205] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:21,163 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.830551] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:21,164 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6700000000000159 deg, practicalMoveTime: 0.5158053146191333 sec
2026-07-02 09:47:21,165 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.2 ms
2026-07-02 09:47:21,165 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.833367] moveTile loop end practicalMoveTime=0.516 (+2.8 ms)
2026-07-02 09:47:21,166 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.833792] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,174 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:47:21,181 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=252.8
2026-07-02 09:47:21,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.854582] moveTile calculated motor speeds left=100 right=92 gyroSteer=-3.2799999999999727 wallSteer=10.399999999999999 (+20.8 ms)
2026-07-02 09:47:21,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.877810] moveTile applied motor speed left=100 right=92 (+23.2 ms)
2026-07-02 09:47:21,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.881552] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:21,214 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.882097] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:21,220 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.887554] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:21,221 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2100000000000364 deg, practicalMoveTime: 0.571678644598544 sec
2026-07-02 09:47:21,221 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.2 ms
2026-07-02 09:47:21,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.889542] moveTile loop end practicalMoveTime=0.572 (+2.0 ms)
2026-07-02 09:47:21,222 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.889909] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,229 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:21,235 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=246.6
2026-07-02 09:47:21,241 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.908607] moveTile calculated motor speeds left=100 right=97 gyroSteer=-7.720000000000027 wallSteer=10.0 (+18.7 ms)
2026-07-02 09:47:21,261 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.928563] moveTile applied motor speed left=100 right=97 (+20.0 ms)
2026-07-02 09:47:21,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.933598] moveTile tile color check tempTileColor=E (+5.0 ms)
2026-07-02 09:47:21,266 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.934239] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:21,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.940382] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:47:21,273 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.170000000000016 deg, practicalMoveTime: 0.6238695090470893 sec
2026-07-02 09:47:21,274 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.9 ms
2026-07-02 09:47:21,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.942356] moveTile loop end practicalMoveTime=0.624 (+2.0 ms)
2026-07-02 09:47:21,275 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.942718] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,280 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:21,286 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.3, S=255.0, V=254.8
2026-07-02 09:47:21,293 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.960609] moveTile calculated motor speeds left=100 right=92 gyroSteer=-2.599999999999909 wallSteer=9.600000000000001 (+17.9 ms)
2026-07-02 09:47:21,313 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.980574] moveTile applied motor speed left=100 right=92 (+20.0 ms)
2026-07-02 09:47:21,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.984211] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:21,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.984857] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:21,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.990403] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:21,324 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.8 deg, practicalMoveTime: 0.6732871805405863 sec
2026-07-02 09:47:21,324 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.1 ms
2026-07-02 09:47:21,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.992476] moveTile loop end practicalMoveTime=0.673 (+2.1 ms)
2026-07-02 09:47:21,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [274.992843] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,331 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:21,338 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.1, S=255.0, V=254.9
2026-07-02 09:47:21,345 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.012727] moveTile calculated motor speeds left=100 right=92 gyroSteer=-2.0 wallSteer=9.600000000000001 (+19.9 ms)
2026-07-02 09:47:21,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.033289] moveTile applied motor speed left=100 right=92 (+20.6 ms)
2026-07-02 09:47:21,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.038057] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:47:21,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.038656] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:21,378 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.045989] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:47:21,379 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.24 deg, practicalMoveTime: 0.7282533243119668 sec
2026-07-02 09:47:21,380 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:47:21,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.047950] moveTile loop end practicalMoveTime=0.728 (+2.0 ms)
2026-07-02 09:47:21,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.048406] moveTile loop start (+0.5 ms)
2026-07-02 09:47:21,389 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2fd0>
2026-07-02 09:47:21,395 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.1, S=255.0, V=239.5
2026-07-02 09:47:21,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.071416] moveTile calculated motor speeds left=100 right=95 gyroSteer=-5.319999999999936 wallSteer=10.0 (+23.0 ms)
2026-07-02 09:47:21,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.092197] moveTile applied motor speed left=100 right=95 (+20.8 ms)
2026-07-02 09:47:21,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.096281] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:47:21,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.097332] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:21,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.103126] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:21,436 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1500000000000341 deg, practicalMoveTime: 0.7847921892410807 sec
2026-07-02 09:47:21,437 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.3 ms
2026-07-02 09:47:21,437 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.105247] moveTile loop end practicalMoveTime=0.785 (+2.1 ms)
2026-07-02 09:47:21,438 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.105635] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,444 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:21,450 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=114.0, S=254.8, V=103.6
2026-07-02 09:47:21,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.124930] moveTile calculated motor speeds left=100 right=95 gyroSteer=-6.039999999999964 wallSteer=10.399999999999999 (+19.3 ms)
2026-07-02 09:47:21,477 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.144777] moveTile applied motor speed left=100 right=95 (+19.8 ms)
2026-07-02 09:47:21,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.148459] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:21,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.149515] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:21,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.154043] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:21,487 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.010000000000047748 deg, practicalMoveTime: 0.835020784209698 sec
2026-07-02 09:47:21,488 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.0 ms
2026-07-02 09:47:21,488 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.156273] moveTile loop end practicalMoveTime=0.835 (+2.2 ms)
2026-07-02 09:47:21,489 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.156657] moveTile loop start (+0.4 ms)
2026-07-02 09:47:21,494 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:21,502 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=114.2, S=254.8, V=102.1
2026-07-02 09:47:21,508 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.175829] moveTile calculated motor speeds left=100 right=99 gyroSteer=-9.920000000000073 wallSteer=10.0 (+19.2 ms)
2026-07-02 09:47:21,533 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.200622] moveTile applied motor speed left=100 right=99 (+24.8 ms)
2026-07-02 09:47:21,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.204614] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:21,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.205265] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:21,543 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.211231] moveTile ramp check isBigRamp=False (+6.0 ms)
2026-07-02 09:47:21,544 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: -0.014213352769445178 CM
2026-07-02 09:47:21,569 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.236727] moveTile finished by time control (+25.5 ms)
2026-07-02 09:47:21,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.237447] moveTile start final forward adjustment (+26.2 ms)
2026-07-02 09:47:21,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.268163] moveTile finished final forward adjustment (+30.7 ms)
2026-07-02 09:47:21,601 - mazeUtils.moveTile - [moveTile.py:2512] - INFO - Set moved vertical distance: -0.014213352769445178 cm, past distances: [(0, False), (0, False), (0, False), (0, False)]
2026-07-02 09:47:21,602 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.269820] moveTile updated moved vertical distance -0.014 (+1.7 ms)
2026-07-02 09:47:21,753 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 90, Distance: 14.200000762939453 cm
2026-07-02 09:47:21,755 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 0, Distance: 38.19895189695925 cm
2026-07-02 09:47:21,759 - mazeUtils.moveTile - [moveTile.py:580] - INFO - angle: 0, result: judgeWallResult.NO_WALL
2026-07-02 09:47:21,761 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 270, Distance: 17.213485607334636 cm
2026-07-02 09:47:21,763 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 180, Distance: 55.72377169567579 cm
2026-07-02 09:47:21,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.431731] moveTile updated map and detected walls (+161.9 ms)
2026-07-02 09:47:21,767 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:21,769 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.436487] moveTile finished (+166.7 ms)
2026-07-02 09:47:21,808 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:47:21,838 - __main__ - [main.py:110] - INFO - Current position: (22, 23, 0), front direction: absDirection.EAST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   @   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:21,902 - mazeUtils.mazeMap - [mazeMap.py:61] - INFO - next goal: (20, 20, 0)
2026-07-02 09:47:21,903 - __main__ - [main.py:158] - INFO - Return Path: [<absDirection.WEST: 90>, <absDirection.SOUTH: 180>, <absDirection.WEST: 90>, <absDirection.NORTH: 0>, <absDirection.NORTH: 0>, <absDirection.NORTH: 0>, <absDirection.NORTH: 0>]
2026-07-02 09:47:21,904 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [275.571636] moveTile start direction=absDirection.WEST position=(22, 23, 0) front=absDirection.EAST
2026-07-02 09:47:21,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.576296] moveTile after initial toggle check (+4.7 ms)
2026-07-02 09:47:21,911 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.579123] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.8 ms)
2026-07-02 09:47:21,912 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (22, 23, 0) facing absDirection.EAST
2026-07-02 09:47:21,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [275.580280] moveTile start heading change target=90 (+1.2 ms)
2026-07-02 09:47:21,948 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 267.1 target: 90
2026-07-02 09:47:23,696 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 94.74000000000001, diff: 4.740000000000009
2026-07-02 09:47:23,754 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.99000000000001 deg
2026-07-02 09:47:23,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.423302] moveTile finished heading change (+1843.0 ms)
2026-07-02 09:47:23,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.423803] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:47:23,756 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.424299] moveTile updated front direction (+0.5 ms)
2026-07-02 09:47:23,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.444194] moveTile stopped motors before alignment (+19.9 ms)
2026-07-02 09:47:23,927 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 15.16603902071366 cm
2026-07-02 09:47:23,928 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 48.68870680115992 cm
2026-07-02 09:47:23,930 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.234135677713642 cm
2026-07-02 09:47:23,931 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 46.51478472890247 cm
2026-07-02 09:47:23,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.602090] moveTile start position adjustment using LiDAR for front wall. (+157.9 ms)
2026-07-02 09:47:23,954 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:24,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.873530] moveTile finished backward adjustment (+271.4 ms)
2026-07-02 09:47:24,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.953819] moveTile ready for forward move (+80.3 ms)
2026-07-02 09:47:24,314 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:24,315 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.982588] moveTile initialized movement targetSteps=1 (+28.8 ms)
2026-07-02 09:47:24,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [277.983780] moveTile loop start (+1.2 ms)
2026-07-02 09:47:24,321 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:24,328 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.4, S=154.2, V=138.6
2026-07-02 09:47:24,336 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.003906] moveTile calculated motor speeds left=73 right=100 gyroSteer=-27.0 wallSteer=0.0 (+20.1 ms)
2026-07-02 09:47:24,358 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.026016] moveTile applied motor speed left=73 right=100 (+22.1 ms)
2026-07-02 09:47:24,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.030108] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:47:24,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.030702] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:24,369 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.036456] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:24,370 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.8400000000000318 deg, practicalMoveTime: 0.05585316366038011 sec
2026-07-02 09:47:24,371 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:47:24,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.038884] moveTile loop end practicalMoveTime=0.056 (+2.4 ms)
2026-07-02 09:47:24,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.039261] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,377 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:24,383 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.3, S=154.0, V=137.8
2026-07-02 09:47:24,393 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.060875] moveTile calculated motor speeds left=75 right=100 gyroSteer=-24.319999999999936 wallSteer=0.0 (+21.6 ms)
2026-07-02 09:47:24,415 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.082979] moveTile applied motor speed left=75 right=100 (+22.1 ms)
2026-07-02 09:47:24,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.086720] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:24,419 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.087385] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:24,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.091716] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:24,425 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.7900000000000205 deg, practicalMoveTime: 0.10991679224948689 sec
2026-07-02 09:47:24,425 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:47:24,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.093610] moveTile loop end practicalMoveTime=0.110 (+1.9 ms)
2026-07-02 09:47:24,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.094004] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,433 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:24,439 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.0, S=154.5, V=136.5
2026-07-02 09:47:24,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.114808] moveTile calculated motor speeds left=77 right=100 gyroSteer=-16.0 wallSteer=-6.800000000000001 (+20.8 ms)
2026-07-02 09:47:24,467 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.134816] moveTile applied motor speed left=77 right=100 (+20.0 ms)
2026-07-02 09:47:24,472 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.140166] moveTile tile color check tempTileColor=E (+5.4 ms)
2026-07-02 09:47:24,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.141006] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:24,479 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.147157] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:24,480 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.10000000000002274 deg, practicalMoveTime: 0.16485860119212165 sec
2026-07-02 09:47:24,481 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:47:24,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.149920] moveTile loop end practicalMoveTime=0.165 (+2.8 ms)
2026-07-02 09:47:24,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.150745] moveTile loop start (+0.8 ms)
2026-07-02 09:47:24,490 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:24,496 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.4, S=155.3, V=138.6
2026-07-02 09:47:24,503 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.170817] moveTile calculated motor speeds left=81 right=100 gyroSteer=-12.079999999999927 wallSteer=-6.800000000000001 (+20.1 ms)
2026-07-02 09:47:24,523 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.191054] moveTile applied motor speed left=81 right=100 (+20.2 ms)
2026-07-02 09:47:24,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.195186] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:47:24,528 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.196048] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:24,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.202323] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:24,536 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.420000000000016 deg, practicalMoveTime: 0.21927499218473318 sec
2026-07-02 09:47:24,537 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:47:24,537 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.205359] moveTile loop end practicalMoveTime=0.219 (+3.0 ms)
2026-07-02 09:47:24,538 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.205785] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,547 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:24,554 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.0, S=154.3, V=136.8
2026-07-02 09:47:24,563 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.230839] moveTile calculated motor speeds left=83 right=100 gyroSteer=-9.759999999999991 wallSteer=-7.199999999999999 (+25.1 ms)
2026-07-02 09:47:24,583 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.251041] moveTile applied motor speed left=83 right=100 (+20.2 ms)
2026-07-02 09:47:24,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.255374] moveTile tile color check tempTileColor=R (+4.3 ms)
2026-07-02 09:47:24,588 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.256215] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:24,595 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.263252] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:47:24,597 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.0200000000000387 deg, practicalMoveTime: 0.279017964705413 sec
2026-07-02 09:47:24,598 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:47:24,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.266692] moveTile loop end practicalMoveTime=0.279 (+3.4 ms)
2026-07-02 09:47:24,599 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.267200] moveTile loop start (+0.5 ms)
2026-07-02 09:47:24,607 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:24,614 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.3, S=155.2, V=134.2
2026-07-02 09:47:24,620 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.287936] moveTile calculated motor speeds left=80 right=100 gyroSteer=-12.3599999999999 wallSteer=-7.600000000000001 (+20.7 ms)
2026-07-02 09:47:24,639 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.307358] moveTile applied motor speed left=80 right=100 (+19.4 ms)
2026-07-02 09:47:24,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.314521] moveTile tile color check tempTileColor=R (+7.2 ms)
2026-07-02 09:47:24,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.315332] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:24,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.321574] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:24,655 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6800000000000068 deg, practicalMoveTime: 0.3362552947448596 sec
2026-07-02 09:47:24,656 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.8 ms
2026-07-02 09:47:24,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.324908] moveTile loop end practicalMoveTime=0.336 (+3.3 ms)
2026-07-02 09:47:24,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.326215] moveTile loop start (+1.3 ms)
2026-07-02 09:47:24,664 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:24,672 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=157.4, S=155.7, V=134.8
2026-07-02 09:47:24,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.350249] moveTile calculated motor speeds left=86 right=100 gyroSteer=-6.7999999999999545 wallSteer=-7.199999999999999 (+24.0 ms)
2026-07-02 09:47:24,704 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.372236] moveTile applied motor speed left=86 right=100 (+22.0 ms)
2026-07-02 09:47:24,708 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.376236] moveTile tile color check tempTileColor=R (+4.0 ms)
2026-07-02 09:47:24,709 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.376889] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:24,715 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.383140] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:24,717 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.150000000000034 deg, practicalMoveTime: 0.39668783342721414 sec
2026-07-02 09:47:24,717 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:47:24,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.385730] moveTile loop end practicalMoveTime=0.397 (+2.6 ms)
2026-07-02 09:47:24,718 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.386104] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,725 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:24,731 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=156.8, S=157.2, V=129.6
2026-07-02 09:47:24,737 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.405380] moveTile calculated motor speeds left=89 right=100 gyroSteer=-2.759999999999991 wallSteer=-8.0 (+19.3 ms)
2026-07-02 09:47:24,757 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.425088] moveTile applied motor speed left=89 right=100 (+19.7 ms)
2026-07-02 09:47:24,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.430473] moveTile tile color check tempTileColor=R (+5.4 ms)
2026-07-02 09:47:24,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.431362] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:24,772 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.439948] moveTile ramp check isBigRamp=False (+8.6 ms)
2026-07-02 09:47:24,773 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.9500000000000455 deg, practicalMoveTime: 0.4523458718379641 sec
2026-07-02 09:47:24,774 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.8 ms
2026-07-02 09:47:24,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.442592] moveTile loop end practicalMoveTime=0.452 (+2.6 ms)
2026-07-02 09:47:24,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.443604] moveTile loop start (+1.0 ms)
2026-07-02 09:47:24,781 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2e50>
2026-07-02 09:47:24,787 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=156.1, S=156.1, V=131.5
2026-07-02 09:47:24,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.459797] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.6800000000000637 wallSteer=-0.3999999999999986 (+16.2 ms)
2026-07-02 09:47:24,812 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.480112] moveTile applied motor speed left=100 right=96 (+20.3 ms)
2026-07-02 09:47:24,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.483794] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:47:24,817 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.484431] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:24,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.488453] moveTile ramp check isBigRamp=False (+4.0 ms)
2026-07-02 09:47:24,822 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5100000000000477 deg, practicalMoveTime: 0.4998767856748408 sec
2026-07-02 09:47:24,823 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 46.9 ms
2026-07-02 09:47:24,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.491026] moveTile loop end practicalMoveTime=0.500 (+2.6 ms)
2026-07-02 09:47:24,823 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.491397] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,832 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:24,838 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=156.3, S=155.8, V=134.0
2026-07-02 09:47:24,846 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.513939] moveTile calculated motor speeds left=100 right=98 gyroSteer=1.6000000000001364 wallSteer=0.0 (+22.5 ms)
2026-07-02 09:47:24,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.535137] moveTile applied motor speed left=100 right=98 (+21.2 ms)
2026-07-02 09:47:24,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.538808] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:47:24,871 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.539341] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:24,877 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.545268] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:47:24,878 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6299999999999955 deg, practicalMoveTime: 0.5555116511539522 sec
2026-07-02 09:47:24,879 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:47:24,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.547241] moveTile loop end practicalMoveTime=0.556 (+2.0 ms)
2026-07-02 09:47:24,880 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.547606] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,888 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:24,894 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=151.6, S=152.4, V=129.7
2026-07-02 09:47:24,899 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.566863] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.400000000000091 wallSteer=0.0 (+19.3 ms)
2026-07-02 09:47:24,922 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.589766] moveTile applied motor speed left=100 right=97 (+22.9 ms)
2026-07-02 09:47:24,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.593431] moveTile tile color check tempTileColor=R (+3.7 ms)
2026-07-02 09:47:24,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.594109] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:24,932 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.600055] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:47:24,933 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.6096891011474924 sec
2026-07-02 09:47:24,934 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:47:24,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.602052] moveTile loop end practicalMoveTime=0.610 (+2.0 ms)
2026-07-02 09:47:24,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.602418] moveTile loop start (+0.4 ms)
2026-07-02 09:47:24,940 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:24,947 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=152.4, S=153.9, V=129.2
2026-07-02 09:47:24,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.622561] moveTile calculated motor speeds left=100 right=98 gyroSteer=1.400000000000091 wallSteer=0.0 (+20.1 ms)
2026-07-02 09:47:24,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.643638] moveTile applied motor speed left=100 right=98 (+21.1 ms)
2026-07-02 09:47:24,980 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.647850] moveTile tile color check tempTileColor=R (+4.2 ms)
2026-07-02 09:47:24,981 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.648712] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:24,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.653342] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:24,986 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 3.1299999999999955 deg, practicalMoveTime: 0.6622014940760421 sec
2026-07-02 09:47:24,987 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:47:24,988 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.655982] moveTile loop end practicalMoveTime=0.662 (+2.6 ms)
2026-07-02 09:47:24,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.656633] moveTile loop start (+0.7 ms)
2026-07-02 09:47:25,000 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d1bc110>
2026-07-02 09:47:25,006 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=146.7, S=156.5, V=127.7
2026-07-02 09:47:25,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.679446] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.480000000000018 wallSteer=0.0 (+22.8 ms)
2026-07-02 09:47:25,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.699617] moveTile applied motor speed left=100 right=97 (+20.2 ms)
2026-07-02 09:47:25,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.704343] moveTile tile color check tempTileColor=R (+4.7 ms)
2026-07-02 09:47:25,037 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.705022] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:25,044 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.711650] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:25,046 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3600000000000136 deg, practicalMoveTime: 0.7205389568687833 sec
2026-07-02 09:47:25,047 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.9 ms
2026-07-02 09:47:25,047 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.715220] moveTile loop end practicalMoveTime=0.721 (+3.6 ms)
2026-07-02 09:47:25,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.715635] moveTile loop start (+0.4 ms)
2026-07-02 09:47:25,057 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:25,065 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=148.3, S=155.1, V=131.0
2026-07-02 09:47:25,077 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.744529] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.3600000000001273 wallSteer=0.0 (+28.9 ms)
2026-07-02 09:47:25,103 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.771369] moveTile applied motor speed left=100 right=96 (+26.8 ms)
2026-07-02 09:47:25,108 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.776291] moveTile tile color check tempTileColor=R (+4.9 ms)
2026-07-02 09:47:25,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.776978] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:25,116 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.783734] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:47:25,117 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.9600000000000364 deg, practicalMoveTime: 0.7905566911432198 sec
2026-07-02 09:47:25,118 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 69.7 ms
2026-07-02 09:47:25,118 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.785948] moveTile loop end practicalMoveTime=0.791 (+2.2 ms)
2026-07-02 09:47:25,119 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.786757] moveTile loop start (+0.8 ms)
2026-07-02 09:47:25,127 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f25a7d0>
2026-07-02 09:47:25,134 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=128.3, S=182.0, V=177.1
2026-07-02 09:47:25,142 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.809751] moveTile calculated motor speeds left=100 right=96 gyroSteer=3.400000000000091 wallSteer=0.0 (+23.0 ms)
2026-07-02 09:47:25,162 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.830055] moveTile applied motor speed left=100 right=96 (+20.3 ms)
2026-07-02 09:47:25,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.836118] moveTile tile color check tempTileColor=R (+6.1 ms)
2026-07-02 09:47:25,169 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.836775] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:25,176 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.843392] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:25,177 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.330000000000041 deg, practicalMoveTime: 0.8495079184979561 sec
2026-07-02 09:47:25,177 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.4 ms
2026-07-02 09:47:25,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.845900] moveTile loop end practicalMoveTime=0.850 (+2.5 ms)
2026-07-02 09:47:25,178 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.846357] moveTile loop start (+0.5 ms)
2026-07-02 09:47:25,183 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:25,189 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=119.8, S=189.0, V=195.2
2026-07-02 09:47:25,203 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.870405] moveTile calculated motor speeds left=99 right=100 gyroSteer=-0.5199999999999818 wallSteer=0.0 (+24.0 ms)
2026-07-02 09:47:25,225 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.893092] moveTile applied motor speed left=99 right=100 (+22.7 ms)
2026-07-02 09:47:25,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.898615] moveTile tile color check tempTileColor=R (+5.5 ms)
2026-07-02 09:47:25,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.899270] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:25,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.904125] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:25,238 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.9268710857838841 CM
2026-07-02 09:47:25,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.925710] moveTile finished by time control (+21.6 ms)
2026-07-02 09:47:25,258 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.926411] moveTile start final forward adjustment (+22.3 ms)
2026-07-02 09:47:25,288 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:47:25,302 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:10.8
2026-07-02 09:47:25,323 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [278.990543] moveTile finished final forward adjustment (+64.1 ms)
2026-07-02 09:47:25,479 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 73.46750437157746 cm
2026-07-02 09:47:25,480 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 81.04968107829947 cm
2026-07-02 09:47:25,481 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 48.02835407290526 cm
2026-07-02 09:47:25,482 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 10.797899017924303 cm
2026-07-02 09:47:25,486 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 10.797899017924303 cm, TSD10 distance: 0.0 cm
2026-07-02 09:47:25,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [279.154492] moveTile updated map and detected walls (+163.9 ms)
2026-07-02 09:47:25,490 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: R
2026-07-02 09:47:25,494 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (21, 23, 0), Tile type: R, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.NO_WALL: 1>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:47:25,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [279.162373] moveTile finished (+171.8 ms)
2026-07-02 09:47:25,535 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, None)
2026-07-02 09:47:25,575 - __main__ - [main.py:188] - INFO - Current position: (21, 23, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | @   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:25,579 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [279.246584] moveTile start direction=absDirection.SOUTH position=(21, 23, 0) front=absDirection.WEST
2026-07-02 09:47:25,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [279.252175] moveTile after initial toggle check (+5.6 ms)
2026-07-02 09:47:25,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [279.254389] moveTile after tile checks isRedTile=True isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:47:25,587 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.SOUTH from (21, 23, 0) facing absDirection.WEST
2026-07-02 09:47:25,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [279.255344] moveTile start heading change target=180 (+1.0 ms)
2026-07-02 09:47:25,612 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.07 target: 180
2026-07-02 09:47:26,509 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 174.60000000000002, diff: 5.399999999999977
2026-07-02 09:47:26,561 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 178.89 deg
2026-07-02 09:47:26,561 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [280.229253] moveTile finished heading change (+973.9 ms)
2026-07-02 09:47:26,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [280.229820] Adjustment after ramp completed (+0.6 ms)
2026-07-02 09:47:26,562 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:47:27,605 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.272615] moveTile updated front direction (+1042.8 ms)
2026-07-02 09:47:27,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.295643] moveTile stopped motors before alignment (+23.0 ms)
2026-07-02 09:47:27,797 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 75.85446757189219 cm
2026-07-02 09:47:27,798 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 76.46875908841724 cm
2026-07-02 09:47:27,799 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 47.24145275576607 cm
2026-07-02 09:47:27,805 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 15.74526191523368 cm
2026-07-02 09:47:27,806 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.473754] moveTile start position adjustment using LiDAR for front wall. (+178.1 ms)
2026-07-02 09:47:27,828 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:28,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.758190] moveTile finished backward adjustment (+284.4 ms)
2026-07-02 09:47:28,171 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.838443] moveTile ready for forward move (+80.3 ms)
2026-07-02 09:47:28,209 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:28,209 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.877222] moveTile initialized movement targetSteps=1 (+38.8 ms)
2026-07-02 09:47:28,211 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.878733] moveTile loop start (+1.5 ms)
2026-07-02 09:47:28,216 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:28,222 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,230 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.897618] moveTile calculated motor speeds left=100 right=95 gyroSteer=7.1200000000000045 wallSteer=-2.3999999999999986 (+18.9 ms)
2026-07-02 09:47:28,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.919651] moveTile applied motor speed left=100 right=95 (+22.0 ms)
2026-07-02 09:47:28,256 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.923849] moveTile tile color check tempTileColor=R (+4.2 ms)
2026-07-02 09:47:28,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.925273] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:47:28,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.929813] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:28,263 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4700000000000273 deg, practicalMoveTime: 0.054210507808500466 sec
2026-07-02 09:47:28,264 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.7 ms
2026-07-02 09:47:28,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.932588] moveTile loop end practicalMoveTime=0.054 (+2.8 ms)
2026-07-02 09:47:28,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.933134] moveTile loop start (+0.5 ms)
2026-07-02 09:47:28,274 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:28,281 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.953803] moveTile calculated motor speeds left=100 right=92 gyroSteer=9.680000000000064 wallSteer=-2.3999999999999986 (+20.7 ms)
2026-07-02 09:47:28,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.974066] moveTile applied motor speed left=100 right=92 (+20.3 ms)
2026-07-02 09:47:28,310 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.977934] moveTile tile color check tempTileColor=R (+3.9 ms)
2026-07-02 09:47:28,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.979307] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:47:28,317 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.985015] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:28,318 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6100000000000136 deg, practicalMoveTime: 0.10858092900117942 sec
2026-07-02 09:47:28,319 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:47:28,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.987662] moveTile loop end practicalMoveTime=0.109 (+2.6 ms)
2026-07-02 09:47:28,320 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [281.988257] moveTile loop start (+0.6 ms)
2026-07-02 09:47:28,331 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:47:28,337 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.012145] moveTile calculated motor speeds left=100 right=91 gyroSteer=10.039999999999964 wallSteer=-2.0 (+23.9 ms)
2026-07-02 09:47:28,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.039151] moveTile applied motor speed left=100 right=91 (+27.0 ms)
2026-07-02 09:47:28,375 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.043085] moveTile tile color check tempTileColor=R (+3.9 ms)
2026-07-02 09:47:28,376 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.043894] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:28,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.049087] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:28,382 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.41 deg, practicalMoveTime: 0.171453104717353 sec
2026-07-02 09:47:28,383 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.2 ms
2026-07-02 09:47:28,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.050991] moveTile loop end practicalMoveTime=0.171 (+1.9 ms)
2026-07-02 09:47:28,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.051368] moveTile loop start (+0.4 ms)
2026-07-02 09:47:28,389 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:28,395 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,400 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.068373] moveTile calculated motor speeds left=100 right=92 gyroSteer=10.0 wallSteer=-2.0 (+17.0 ms)
2026-07-02 09:47:28,426 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.093715] moveTile applied motor speed left=100 right=92 (+25.3 ms)
2026-07-02 09:47:28,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.097613] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:28,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.098463] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:28,437 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.104882] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:28,438 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.95000000000005 deg, practicalMoveTime: 0.22670682780365434 sec
2026-07-02 09:47:28,439 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.0 ms
2026-07-02 09:47:28,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.106929] moveTile loop end practicalMoveTime=0.227 (+2.0 ms)
2026-07-02 09:47:28,440 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.107485] moveTile loop start (+0.6 ms)
2026-07-02 09:47:28,447 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:47:28,453 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,459 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.127297] moveTile calculated motor speeds left=100 right=96 gyroSteer=5.360000000000014 wallSteer=-1.6000000000000014 (+19.8 ms)
2026-07-02 09:47:28,480 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.147695] moveTile applied motor speed left=100 right=96 (+20.4 ms)
2026-07-02 09:47:28,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.153744] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:47:28,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.154549] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:28,500 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.167627] moveTile ramp check isBigRamp=False (+13.1 ms)
2026-07-02 09:47:28,501 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.0 deg, practicalMoveTime: 0.28892340752637885 sec
2026-07-02 09:47:28,501 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.7 ms
2026-07-02 09:47:28,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.169772] moveTile loop end practicalMoveTime=0.289 (+2.1 ms)
2026-07-02 09:47:28,502 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.170216] moveTile loop start (+0.4 ms)
2026-07-02 09:47:28,511 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2e50>
2026-07-02 09:47:28,518 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,523 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.190461] moveTile calculated motor speeds left=100 right=96 gyroSteer=5.2000000000000455 wallSteer=-1.6000000000000014 (+20.2 ms)
2026-07-02 09:47:28,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.210344] moveTile applied motor speed left=100 right=96 (+19.9 ms)
2026-07-02 09:47:28,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.216148] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:47:28,549 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.216978] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:28,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.222181] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:28,555 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.93 deg, practicalMoveTime: 0.34273587118012727 sec
2026-07-02 09:47:28,556 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.4 ms
2026-07-02 09:47:28,556 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.224393] moveTile loop end practicalMoveTime=0.343 (+2.2 ms)
2026-07-02 09:47:28,557 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.224922] moveTile loop start (+0.5 ms)
2026-07-02 09:47:28,562 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:28,569 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.244271] moveTile calculated motor speeds left=100 right=99 gyroSteer=-1.0 wallSteer=2.0 (+19.3 ms)
2026-07-02 09:47:28,604 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.271859] moveTile applied motor speed left=100 right=99 (+27.6 ms)
2026-07-02 09:47:28,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.276447] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:28,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.277527] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:28,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.282985] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:28,616 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.59000000000003 deg, practicalMoveTime: 0.4028294043595153 sec
2026-07-02 09:47:28,617 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:47:28,617 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.285270] moveTile loop end practicalMoveTime=0.403 (+2.3 ms)
2026-07-02 09:47:28,618 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.285752] moveTile loop start (+0.5 ms)
2026-07-02 09:47:28,623 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189050>
2026-07-02 09:47:28,631 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,637 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.304429] moveTile calculated motor speeds left=100 right=94 gyroSteer=2.759999999999991 wallSteer=2.400000000000002 (+18.7 ms)
2026-07-02 09:47:28,656 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.323908] moveTile applied motor speed left=100 right=94 (+19.5 ms)
2026-07-02 09:47:28,660 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.328063] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:28,661 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.328711] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:28,670 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.337828] moveTile ramp check isBigRamp=False (+9.1 ms)
2026-07-02 09:47:28,671 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.36000000000001364 deg, practicalMoveTime: 0.4570282685049579 sec
2026-07-02 09:47:28,672 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.6 ms
2026-07-02 09:47:28,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.339846] moveTile loop end practicalMoveTime=0.457 (+2.0 ms)
2026-07-02 09:47:28,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.340312] moveTile loop start (+0.5 ms)
2026-07-02 09:47:28,684 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:28,690 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:47:28,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.362665] moveTile calculated motor speeds left=100 right=89 gyroSteer=-0.8799999999999955 wallSteer=11.600000000000001 (+22.4 ms)
2026-07-02 09:47:28,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.388079] moveTile applied motor speed left=100 right=89 (+25.4 ms)
2026-07-02 09:47:28,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.392487] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:28,725 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.393158] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:28,730 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.397441] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:28,730 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8799999999999955 deg, practicalMoveTime: 0.5159109501923387 sec
2026-07-02 09:47:28,732 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:47:28,732 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.400056] moveTile loop end practicalMoveTime=0.516 (+2.6 ms)
2026-07-02 09:47:28,733 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.401392] moveTile loop start (+1.3 ms)
2026-07-02 09:47:28,745 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:28,752 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:28,758 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.425429] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.9600000000000364 wallSteer=0.0 (+24.0 ms)
2026-07-02 09:47:28,783 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.451055] moveTile applied motor speed left=100 right=97 (+25.6 ms)
2026-07-02 09:47:28,787 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.455047] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:28,788 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.456081] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:28,794 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.462339] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:28,796 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4700000000000273 deg, practicalMoveTime: 0.5799911782624959 sec
2026-07-02 09:47:28,797 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 63.3 ms
2026-07-02 09:47:28,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.465543] moveTile loop end practicalMoveTime=0.580 (+3.2 ms)
2026-07-02 09:47:28,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.466285] moveTile loop start (+0.7 ms)
2026-07-02 09:47:28,805 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f5f209ad0>
2026-07-02 09:47:28,811 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:28,816 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.483774] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.480000000000018 wallSteer=0.0 (+17.5 ms)
2026-07-02 09:47:28,839 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.506485] moveTile applied motor speed left=94 right=100 (+22.7 ms)
2026-07-02 09:47:28,843 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.510724] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:28,844 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.511593] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:28,855 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.522584] moveTile ramp check isBigRamp=False (+11.0 ms)
2026-07-02 09:47:28,856 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.28000000000002956 deg, practicalMoveTime: 0.6388221674964383 sec
2026-07-02 09:47:28,857 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:47:28,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.525570] moveTile loop end practicalMoveTime=0.639 (+3.0 ms)
2026-07-02 09:47:28,858 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.526230] moveTile loop start (+0.7 ms)
2026-07-02 09:47:28,867 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189450>
2026-07-02 09:47:28,873 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:47:28,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.545415] moveTile calculated motor speeds left=97 right=100 gyroSteer=-2.2000000000000455 wallSteer=0.0 (+19.2 ms)
2026-07-02 09:47:28,897 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.565219] moveTile applied motor speed left=97 right=100 (+19.8 ms)
2026-07-02 09:47:28,903 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.570556] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:47:28,904 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.571403] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:28,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.577118] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:28,910 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.57000000000005 deg, practicalMoveTime: 0.6919983231919916 sec
2026-07-02 09:47:28,911 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.4 ms
2026-07-02 09:47:28,911 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.579138] moveTile loop end practicalMoveTime=0.692 (+2.0 ms)
2026-07-02 09:47:28,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.579508] moveTile loop start (+0.4 ms)
2026-07-02 09:47:28,918 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:28,924 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:47:28,937 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.604620] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.2000000000000455 wallSteer=0.0 (+25.1 ms)
2026-07-02 09:47:28,965 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.632695] moveTile applied motor speed left=94 right=100 (+28.1 ms)
2026-07-02 09:47:28,968 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.636339] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:28,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.636859] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:28,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.642245] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:47:28,975 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.1500000000000341 deg, practicalMoveTime: 0.7565411108110351 sec
2026-07-02 09:47:28,976 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 64.5 ms
2026-07-02 09:47:28,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.646452] moveTile loop end practicalMoveTime=0.757 (+4.2 ms)
2026-07-02 09:47:28,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.647002] moveTile loop start (+0.5 ms)
2026-07-02 09:47:28,985 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2e50>
2026-07-02 09:47:28,991 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.9, S=255.0, V=254.8
2026-07-02 09:47:28,998 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.665976] moveTile calculated motor speeds left=98 right=100 gyroSteer=-1.8399999999999181 wallSteer=0.0 (+19.0 ms)
2026-07-02 09:47:29,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.694544] moveTile applied motor speed left=98 right=100 (+28.6 ms)
2026-07-02 09:47:29,031 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.698991] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:29,032 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.699635] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:29,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.703998] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:47:29,037 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.75 deg, practicalMoveTime: 0.817397245777443 sec
2026-07-02 09:47:29,038 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.5 ms
2026-07-02 09:47:29,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.706139] moveTile loop end practicalMoveTime=0.817 (+2.1 ms)
2026-07-02 09:47:29,039 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.707017] moveTile loop start (+0.9 ms)
2026-07-02 09:47:29,049 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:29,055 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=102.8, S=255.0, V=240.8
2026-07-02 09:47:29,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.729215] moveTile calculated motor speeds left=95 right=100 gyroSteer=-4.8799999999999955 wallSteer=0.0 (+22.2 ms)
2026-07-02 09:47:29,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.748294] moveTile applied motor speed left=95 right=100 (+19.1 ms)
2026-07-02 09:47:29,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.751913] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:29,085 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.752575] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:29,090 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.757527] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:29,090 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.08621121114212538 CM
2026-07-02 09:47:29,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.778328] moveTile finished by time control (+20.8 ms)
2026-07-02 09:47:29,111 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.779024] moveTile start final forward adjustment (+21.5 ms)
2026-07-02 09:47:29,147 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:47:29,165 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:13.6
2026-07-02 09:47:29,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [282.854085] moveTile finished final forward adjustment (+75.1 ms)
2026-07-02 09:47:29,333 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 180, Distance: 110.71197310736588 cm
2026-07-02 09:47:29,334 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 90, Distance: 165.2748270606445 cm
2026-07-02 09:47:29,334 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 0, Distance: 11.456239028055073 cm
2026-07-02 09:47:29,338 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 11.456239028055073 cm, TSD10 distance: 2.7 cm
2026-07-02 09:47:29,339 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 270, Distance: 45.60389913497183 cm
2026-07-02 09:47:29,340 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.007990] moveTile updated map and detected walls (+153.9 ms)
2026-07-02 09:47:29,343 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:29,344 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.011916] moveTile finished (+157.8 ms)
2026-07-02 09:47:29,382 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 3)
2026-07-02 09:47:29,415 - __main__ - [main.py:188] - INFO - Current position: (21, 24, 0), front direction: absDirection.SOUTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   @   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:29,417 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [283.084920] moveTile start direction=absDirection.WEST position=(21, 24, 0) front=absDirection.SOUTH
2026-07-02 09:47:29,428 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.095746] moveTile after initial toggle check (+10.8 ms)
2026-07-02 09:47:29,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.097956] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:47:29,431 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.WEST from (21, 24, 0) facing absDirection.SOUTH
2026-07-02 09:47:29,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.098878] moveTile start heading change target=90 (+0.9 ms)
2026-07-02 09:47:29,460 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 178.61 target: 90
2026-07-02 09:47:30,266 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 95.43, diff: 5.430000000000007
2026-07-02 09:47:30,323 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 90.12 deg
2026-07-02 09:47:30,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.991725] moveTile finished heading change (+892.8 ms)
2026-07-02 09:47:30,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [283.992248] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:47:30,325 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - After turning, checking for victims due to wall presence.
2026-07-02 09:47:31,370 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.037401] moveTile updated front direction (+1045.2 ms)
2026-07-02 09:47:31,391 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.059190] moveTile stopped motors before alignment (+21.8 ms)
2026-07-02 09:47:31,540 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 104.92205237375293 cm
2026-07-02 09:47:31,541 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 168.97426048143012 cm
2026-07-02 09:47:31,543 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.0 cm
2026-07-02 09:47:31,544 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 43.97761393585194 cm
2026-07-02 09:47:31,548 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.215423] moveTile start position adjustment using LiDAR for front wall. (+156.2 ms)
2026-07-02 09:47:31,570 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:31,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.437546] moveTile finished backward adjustment (+222.1 ms)
2026-07-02 09:47:31,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.518352] moveTile ready for forward move (+80.8 ms)
2026-07-02 09:47:31,878 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:31,878 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.546321] moveTile initialized movement targetSteps=1 (+28.0 ms)
2026-07-02 09:47:31,879 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.547368] moveTile loop start (+1.0 ms)
2026-07-02 09:47:31,884 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:47:31,889 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:47:31,898 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.565870] moveTile calculated motor speeds left=84 right=100 gyroSteer=-18.680000000000064 wallSteer=2.8000000000000007 (+18.5 ms)
2026-07-02 09:47:31,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.587598] moveTile applied motor speed left=84 right=100 (+21.7 ms)
2026-07-02 09:47:31,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.593598] moveTile tile color check tempTileColor=E (+6.0 ms)
2026-07-02 09:47:31,926 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.594159] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:31,931 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.599304] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:31,933 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3300000000000409 deg, practicalMoveTime: 0.054731414882170586 sec
2026-07-02 09:47:31,933 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.8 ms
2026-07-02 09:47:31,934 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.602140] moveTile loop end practicalMoveTime=0.055 (+2.8 ms)
2026-07-02 09:47:31,935 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.602517] moveTile loop start (+0.4 ms)
2026-07-02 09:47:31,943 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:31,948 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:47:31,952 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.620266] moveTile calculated motor speeds left=86 right=100 gyroSteer=-17.11999999999989 wallSteer=3.1999999999999993 (+17.7 ms)
2026-07-02 09:47:31,973 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.640489] moveTile applied motor speed left=86 right=100 (+20.2 ms)
2026-07-02 09:47:31,978 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.646006] moveTile tile color check tempTileColor=E (+5.5 ms)
2026-07-02 09:47:31,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.646696] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:31,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.650981] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:31,984 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.71000000000004 deg, practicalMoveTime: 0.1052225779707247 sec
2026-07-02 09:47:31,985 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.9 ms
2026-07-02 09:47:31,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.652968] moveTile loop end practicalMoveTime=0.105 (+2.0 ms)
2026-07-02 09:47:31,985 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.653332] moveTile loop start (+0.4 ms)
2026-07-02 09:47:31,993 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:32,000 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:47:32,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.673796] moveTile calculated motor speeds left=84 right=100 gyroSteer=-16.559999999999945 wallSteer=0.8000000000000007 (+20.5 ms)
2026-07-02 09:47:32,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.694175] moveTile applied motor speed left=84 right=100 (+20.4 ms)
2026-07-02 09:47:32,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.697816] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:32,030 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.698379] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:32,036 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.703906] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:32,037 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.89000000000004 deg, practicalMoveTime: 0.15756232179444557 sec
2026-07-02 09:47:32,038 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.1 ms
2026-07-02 09:47:32,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.705943] moveTile loop end practicalMoveTime=0.158 (+2.0 ms)
2026-07-02 09:47:32,038 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.706321] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,045 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:32,051 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:32,058 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.725817] moveTile calculated motor speeds left=86 right=100 gyroSteer=-13.920000000000073 wallSteer=0.3999999999999986 (+19.5 ms)
2026-07-02 09:47:32,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.748359] moveTile applied motor speed left=86 right=100 (+22.5 ms)
2026-07-02 09:47:32,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.753419] moveTile tile color check tempTileColor=E (+5.1 ms)
2026-07-02 09:47:32,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.754108] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:32,092 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.759533] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:47:32,093 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.20000000000004547 deg, practicalMoveTime: 0.21288606234743354 sec
2026-07-02 09:47:32,094 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:47:32,094 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.762046] moveTile loop end practicalMoveTime=0.213 (+2.5 ms)
2026-07-02 09:47:32,095 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.762535] moveTile loop start (+0.5 ms)
2026-07-02 09:47:32,101 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:32,107 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:47:32,113 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.781321] moveTile calculated motor speeds left=84 right=100 gyroSteer=-15.879999999999882 wallSteer=0.3999999999999986 (+18.8 ms)
2026-07-02 09:47:32,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.804767] moveTile applied motor speed left=84 right=100 (+23.4 ms)
2026-07-02 09:47:32,143 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.810854] moveTile tile color check tempTileColor=E (+6.1 ms)
2026-07-02 09:47:32,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.812274] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:47:32,149 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.816892] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:32,150 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.65000000000003 deg, practicalMoveTime: 0.2690902863575652 sec
2026-07-02 09:47:32,151 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:47:32,151 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.819246] moveTile loop end practicalMoveTime=0.269 (+2.4 ms)
2026-07-02 09:47:32,152 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.820278] moveTile loop start (+1.0 ms)
2026-07-02 09:47:32,159 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2e50>
2026-07-02 09:47:32,167 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:47:32,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.842108] moveTile calculated motor speeds left=90 right=100 gyroSteer=-9.920000000000073 wallSteer=0.3999999999999986 (+21.8 ms)
2026-07-02 09:47:32,194 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.861989] moveTile applied motor speed left=90 right=100 (+19.9 ms)
2026-07-02 09:47:32,198 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.865728] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:32,199 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.866416] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:32,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.872092] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:32,205 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.34000000000003183 deg, practicalMoveTime: 0.3234714146613138 sec
2026-07-02 09:47:32,206 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:47:32,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.874069] moveTile loop end practicalMoveTime=0.323 (+2.0 ms)
2026-07-02 09:47:32,207 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.874472] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,217 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3150>
2026-07-02 09:47:32,223 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:32,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.898402] moveTile calculated motor speeds left=99 right=100 gyroSteer=-3.7200000000000273 wallSteer=3.1999999999999993 (+23.9 ms)
2026-07-02 09:47:32,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.918240] moveTile applied motor speed left=99 right=100 (+19.8 ms)
2026-07-02 09:47:32,254 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.921851] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:32,255 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.923173] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:32,260 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.928122] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:32,261 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9200000000000159 deg, practicalMoveTime: 0.3789802625821364 sec
2026-07-02 09:47:32,262 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:47:32,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.930347] moveTile loop end practicalMoveTime=0.379 (+2.2 ms)
2026-07-02 09:47:32,263 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.930726] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,269 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:32,275 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:32,284 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.952067] moveTile calculated motor speeds left=100 right=98 gyroSteer=-1.4400000000000546 wallSteer=2.8000000000000007 (+21.3 ms)
2026-07-02 09:47:32,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.979034] moveTile applied motor speed left=100 right=98 (+27.0 ms)
2026-07-02 09:47:32,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.983540] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:32,316 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.984260] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:32,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.988552] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:32,322 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.4389503290541097 sec
2026-07-02 09:47:32,323 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.0 ms
2026-07-02 09:47:32,324 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.992246] moveTile loop end practicalMoveTime=0.439 (+3.7 ms)
2026-07-02 09:47:32,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [285.992754] moveTile loop start (+0.5 ms)
2026-07-02 09:47:32,330 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:32,336 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:32,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.014540] moveTile calculated motor speeds left=100 right=97 gyroSteer=-0.2400000000000091 wallSteer=2.400000000000002 (+21.8 ms)
2026-07-02 09:47:32,368 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.035880] moveTile applied motor speed left=100 right=97 (+21.3 ms)
2026-07-02 09:47:32,372 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.040091] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:32,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.041190] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:32,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.048193] moveTile ramp check isBigRamp=False (+7.0 ms)
2026-07-02 09:47:32,381 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.2100000000000364 deg, practicalMoveTime: 0.49722542895388183 sec
2026-07-02 09:47:32,382 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.9 ms
2026-07-02 09:47:32,382 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.050325] moveTile loop end practicalMoveTime=0.497 (+2.1 ms)
2026-07-02 09:47:32,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.050738] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,389 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:32,396 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.1, S=255.0, V=254.8
2026-07-02 09:47:32,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.072343] moveTile calculated motor speeds left=89 right=100 gyroSteer=-6.559999999999945 wallSteer=-4.399999999999999 (+21.6 ms)
2026-07-02 09:47:32,430 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.097454] moveTile applied motor speed left=89 right=100 (+25.1 ms)
2026-07-02 09:47:32,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.102137] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:47:32,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.102804] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:32,439 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.107268] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:32,441 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.09000000000003183 deg, practicalMoveTime: 0.5564292190579793 sec
2026-07-02 09:47:32,442 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.3 ms
2026-07-02 09:47:32,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.110616] moveTile loop end practicalMoveTime=0.556 (+3.3 ms)
2026-07-02 09:47:32,443 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.111055] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,449 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:32,456 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.7, S=255.0, V=254.9
2026-07-02 09:47:32,462 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.129621] moveTile calculated motor speeds left=87 right=100 gyroSteer=-7.960000000000036 wallSteer=-4.399999999999999 (+18.6 ms)
2026-07-02 09:47:32,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.149655] moveTile applied motor speed left=87 right=100 (+20.0 ms)
2026-07-02 09:47:32,486 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.153735] moveTile tile color check tempTileColor=E (+4.1 ms)
2026-07-02 09:47:32,487 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.154787] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:32,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.159823] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:32,493 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6299999999999955 deg, practicalMoveTime: 0.6070393012753167 sec
2026-07-02 09:47:32,493 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.2 ms
2026-07-02 09:47:32,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.161760] moveTile loop end practicalMoveTime=0.607 (+1.9 ms)
2026-07-02 09:47:32,494 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.162130] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,502 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:32,508 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:32,514 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.182146] moveTile calculated motor speeds left=85 right=100 gyroSteer=-9.639999999999873 wallSteer=-4.800000000000001 (+20.0 ms)
2026-07-02 09:47:32,535 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.202557] moveTile applied motor speed left=85 right=100 (+20.4 ms)
2026-07-02 09:47:32,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.206420] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:32,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.207069] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:32,551 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.219039] moveTile ramp check isBigRamp=False (+12.0 ms)
2026-07-02 09:47:32,552 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.37999999999999545 deg, practicalMoveTime: 0.6656868360860637 sec
2026-07-02 09:47:32,553 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.9 ms
2026-07-02 09:47:32,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.221664] moveTile loop end practicalMoveTime=0.666 (+2.6 ms)
2026-07-02 09:47:32,554 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.222084] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,563 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:47:32,569 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.9, S=255.0, V=254.9
2026-07-02 09:47:32,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.244053] moveTile calculated motor speeds left=89 right=100 gyroSteer=-9.240000000000009 wallSteer=-0.8000000000000007 (+22.0 ms)
2026-07-02 09:47:32,597 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.264472] moveTile applied motor speed left=89 right=100 (+20.4 ms)
2026-07-02 09:47:32,600 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.268166] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:32,601 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.268765] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:32,607 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.274967] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:32,608 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.32000000000005 deg, practicalMoveTime: 0.7204550210418432 sec
2026-07-02 09:47:32,609 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.4 ms
2026-07-02 09:47:32,609 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.277091] moveTile loop end practicalMoveTime=0.720 (+2.1 ms)
2026-07-02 09:47:32,610 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.277495] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,616 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6de29550>
2026-07-02 09:47:32,622 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.0, S=255.0, V=254.9
2026-07-02 09:47:32,628 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.295820] moveTile calculated motor speeds left=91 right=100 gyroSteer=-8.0 wallSteer=-0.3999999999999986 (+18.3 ms)
2026-07-02 09:47:32,652 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.319505] moveTile applied motor speed left=91 right=100 (+23.7 ms)
2026-07-02 09:47:32,657 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.324436] moveTile tile color check tempTileColor=E (+4.9 ms)
2026-07-02 09:47:32,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.325727] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:32,663 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.330786] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:32,664 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.59000000000003 deg, practicalMoveTime: 0.775531163687502 sec
2026-07-02 09:47:32,665 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.8 ms
2026-07-02 09:47:32,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.332857] moveTile loop end practicalMoveTime=0.776 (+2.1 ms)
2026-07-02 09:47:32,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.333370] moveTile loop start (+0.5 ms)
2026-07-02 09:47:32,673 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2e50>
2026-07-02 09:47:32,679 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.8, S=255.0, V=254.8
2026-07-02 09:47:32,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.352715] moveTile calculated motor speeds left=88 right=100 gyroSteer=-12.639999999999873 wallSteer=1.1999999999999993 (+19.3 ms)
2026-07-02 09:47:32,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.373460] moveTile applied motor speed left=88 right=100 (+20.7 ms)
2026-07-02 09:47:32,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.377644] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:32,710 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.378300] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:32,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.383798] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:32,717 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.82000000000005 deg, practicalMoveTime: 0.8280363824841203 sec
2026-07-02 09:47:32,718 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.3 ms
2026-07-02 09:47:32,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.386818] moveTile loop end practicalMoveTime=0.828 (+3.0 ms)
2026-07-02 09:47:32,719 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.387266] moveTile loop start (+0.4 ms)
2026-07-02 09:47:32,727 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:32,733 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:47:32,739 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.406457] moveTile calculated motor speeds left=91 right=100 gyroSteer=-9.799999999999955 wallSteer=1.1999999999999993 (+19.2 ms)
2026-07-02 09:47:32,759 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.427355] moveTile applied motor speed left=91 right=100 (+20.9 ms)
2026-07-02 09:47:32,763 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.431223] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:32,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.431903] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:32,770 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.437440] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:32,770 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.18513023685135097 CM
2026-07-02 09:47:32,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.459405] moveTile finished by time control (+22.0 ms)
2026-07-02 09:47:32,792 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.460170] moveTile start final forward adjustment (+22.7 ms)
2026-07-02 09:47:32,828 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little forward to adjust position
2026-07-02 09:47:32,848 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:19.4
2026-07-02 09:47:32,948 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:16.8
2026-07-02 09:47:33,048 - mazeUtils.moveTile - [moveTile.py:2319] - INFO - Final forward adjustment... Current dist:12.8
2026-07-02 09:47:33,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.736990] moveTile finished final forward adjustment (+276.8 ms)
2026-07-02 09:47:33,219 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 270, Distance: 226.86171773333473 cm
2026-07-02 09:47:33,220 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 180, Distance: 199.3784699903096 cm
2026-07-02 09:47:33,222 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 90, Distance: 17.80000114440918 cm
2026-07-02 09:47:33,223 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 0, Distance: 13.199999809265137 cm
2026-07-02 09:47:33,228 - mazeUtils.moveTile - [moveTile.py:661] - DEBUG - Front LiDAR distance: 13.199999809265137 cm, TSD10 distance: 2.6 cm
2026-07-02 09:47:33,228 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.896324] moveTile updated map and detected walls (+159.3 ms)
2026-07-02 09:47:33,232 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:33,234 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.901411] moveTile finished (+164.4 ms)
2026-07-02 09:47:33,275 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (0, 6)
2026-07-02 09:47:33,311 - __main__ - [main.py:188] - INFO - Current position: (20, 24, 0), front direction: absDirection.WEST
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| @   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:33,313 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [286.980989] moveTile start direction=absDirection.NORTH position=(20, 24, 0) front=absDirection.WEST
2026-07-02 09:47:33,318 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.986270] moveTile after initial toggle check (+5.3 ms)
2026-07-02 09:47:33,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.988848] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.6 ms)
2026-07-02 09:47:33,322 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 24, 0) facing absDirection.WEST
2026-07-02 09:47:33,322 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [286.989953] moveTile start heading change target=0 (+1.1 ms)
2026-07-02 09:47:33,346 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 89.67000000000002 target: 0
2026-07-02 09:47:34,328 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 5.050000000000011, diff: 5.050000000000011
2026-07-02 09:47:34,379 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 0.9800000000000182 deg
2026-07-02 09:47:34,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.047625] moveTile finished heading change (+1057.7 ms)
2026-07-02 09:47:34,380 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.048158] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:47:34,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.048639] moveTile updated front direction (+0.5 ms)
2026-07-02 09:47:34,403 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.071022] moveTile stopped motors before alignment (+22.4 ms)
2026-07-02 09:47:34,578 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 223.3638345892741 cm
2026-07-02 09:47:34,580 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 197.17981322076636 cm
2026-07-02 09:47:34,581 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 19.3586918524379 cm
2026-07-02 09:47:34,583 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 15.397654123996798 cm
2026-07-02 09:47:34,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.252084] moveTile start position adjustment using LiDAR for back wall. (+181.1 ms)
2026-07-02 09:47:34,605 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:34,754 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.421503] moveTile finished backward adjustment (+169.4 ms)
2026-07-02 09:47:34,835 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.503182] moveTile ready for forward move (+81.7 ms)
2026-07-02 09:47:34,866 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:34,866 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.533823] moveTile initialized movement targetSteps=1 (+30.6 ms)
2026-07-02 09:47:34,866 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.534426] moveTile loop start (+0.6 ms)
2026-07-02 09:47:34,874 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2e50>
2026-07-02 09:47:34,878 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.6, S=254.8, V=151.8
2026-07-02 09:47:34,884 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.552351] moveTile calculated motor speeds left=93 right=100 gyroSteer=-10.3599999999999 wallSteer=3.6000000000000014 (+17.9 ms)
2026-07-02 09:47:34,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.572556] moveTile applied motor speed left=93 right=100 (+20.2 ms)
2026-07-02 09:47:34,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.575995] moveTile tile color check tempTileColor=E (+3.4 ms)
2026-07-02 09:47:34,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.576430] moveTile obstacle check escapeFlag=False (+0.4 ms)
2026-07-02 09:47:34,914 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.581696] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:47:34,914 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8700000000000045 deg, practicalMoveTime: 0.04871378974273186 sec
2026-07-02 09:47:34,914 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 48.0 ms
2026-07-02 09:47:34,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.582567] moveTile loop end practicalMoveTime=0.049 (+0.9 ms)
2026-07-02 09:47:34,915 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.582689] moveTile loop start (+0.1 ms)
2026-07-02 09:47:34,919 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:34,922 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.7, S=254.8, V=149.2
2026-07-02 09:47:34,933 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.600481] moveTile calculated motor speeds left=99 right=100 gyroSteer=-6.2000000000000455 wallSteer=6.0 (+17.8 ms)
2026-07-02 09:47:34,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.622401] moveTile applied motor speed left=99 right=100 (+21.9 ms)
2026-07-02 09:47:34,958 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.626187] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:34,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.627590] moveTile obstacle check escapeFlag=False (+1.4 ms)
2026-07-02 09:47:34,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.634493] moveTile ramp check isBigRamp=False (+6.9 ms)
2026-07-02 09:47:34,968 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6200000000000045 deg, practicalMoveTime: 0.10208257126376126 sec
2026-07-02 09:47:34,969 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.2 ms
2026-07-02 09:47:34,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.637479] moveTile loop end practicalMoveTime=0.102 (+3.0 ms)
2026-07-02 09:47:34,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.637892] moveTile loop start (+0.4 ms)
2026-07-02 09:47:34,975 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:34,982 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.3, S=254.9, V=156.4
2026-07-02 09:47:34,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.657104] moveTile calculated motor speeds left=100 right=93 gyroSteer=-0.07999999999992724 wallSteer=6.399999999999999 (+19.2 ms)
2026-07-02 09:47:35,012 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.680235] moveTile applied motor speed left=100 right=93 (+23.1 ms)
2026-07-02 09:47:35,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.683842] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:35,016 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.684400] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:35,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.690538] moveTile ramp check isBigRamp=False (+6.1 ms)
2026-07-02 09:47:35,024 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9000000000000341 deg, practicalMoveTime: 0.15736764113839466 sec
2026-07-02 09:47:35,026 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:47:35,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.694019] moveTile loop end practicalMoveTime=0.157 (+3.5 ms)
2026-07-02 09:47:35,026 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.694396] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,033 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:35,040 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.3, S=254.9, V=156.3
2026-07-02 09:47:35,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.715696] moveTile calculated motor speeds left=100 right=93 gyroSteer=0.12000000000011823 wallSteer=6.399999999999999 (+21.3 ms)
2026-07-02 09:47:35,068 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.735978] moveTile applied motor speed left=100 right=93 (+20.3 ms)
2026-07-02 09:47:35,073 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.741265] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:47:35,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.741961] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:35,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.747721] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:35,081 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.26000000000005 deg, practicalMoveTime: 0.21262965046024737 sec
2026-07-02 09:47:35,082 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:47:35,082 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.750116] moveTile loop end practicalMoveTime=0.213 (+2.4 ms)
2026-07-02 09:47:35,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.750596] moveTile loop start (+0.5 ms)
2026-07-02 09:47:35,091 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:35,097 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.3, S=254.8, V=154.1
2026-07-02 09:47:35,106 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.773518] moveTile calculated motor speeds left=100 right=97 gyroSteer=-4.3599999999999 wallSteer=6.800000000000001 (+22.9 ms)
2026-07-02 09:47:35,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.793404] moveTile applied motor speed left=100 right=97 (+19.9 ms)
2026-07-02 09:47:35,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.798202] moveTile tile color check tempTileColor=V (+4.8 ms)
2026-07-02 09:47:35,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.799222] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:35,136 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.803698] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:35,137 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.82000000000005 deg, practicalMoveTime: 0.2676901419844344 sec
2026-07-02 09:47:35,138 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.3 ms
2026-07-02 09:47:35,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.806496] moveTile loop end practicalMoveTime=0.268 (+2.8 ms)
2026-07-02 09:47:35,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.806902] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,145 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c0110>
2026-07-02 09:47:35,151 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.9, S=254.4, V=136.0
2026-07-02 09:47:35,157 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.825029] moveTile calculated motor speeds left=100 right=97 gyroSteer=-3.8799999999998818 wallSteer=6.800000000000001 (+18.1 ms)
2026-07-02 09:47:35,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.844877] moveTile applied motor speed left=100 right=97 (+19.8 ms)
2026-07-02 09:47:35,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.848669] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:47:35,181 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.849253] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:35,186 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.853783] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:35,187 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.650000000000034 deg, practicalMoveTime: 0.31695059044507956 sec
2026-07-02 09:47:35,188 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.3 ms
2026-07-02 09:47:35,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.857405] moveTile loop end practicalMoveTime=0.317 (+3.6 ms)
2026-07-02 09:47:35,190 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.857956] moveTile loop start (+0.6 ms)
2026-07-02 09:47:35,198 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:35,204 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.8, S=254.5, V=137.2
2026-07-02 09:47:35,210 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.878242] moveTile calculated motor speeds left=100 right=96 gyroSteer=1.1200000000001182 wallSteer=2.8000000000000007 (+20.3 ms)
2026-07-02 09:47:35,230 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.898174] moveTile applied motor speed left=100 right=96 (+19.9 ms)
2026-07-02 09:47:35,235 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.902849] moveTile tile color check tempTileColor=V (+4.7 ms)
2026-07-02 09:47:35,236 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.903597] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:35,242 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.909845] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:35,243 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.5400000000000205 deg, practicalMoveTime: 0.3718559551370289 sec
2026-07-02 09:47:35,244 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.9 ms
2026-07-02 09:47:35,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.912479] moveTile loop end practicalMoveTime=0.372 (+2.6 ms)
2026-07-02 09:47:35,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.912893] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,253 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c1599d0>
2026-07-02 09:47:35,261 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=108.1, S=254.1, V=130.3
2026-07-02 09:47:35,270 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.938294] moveTile calculated motor speeds left=100 right=95 gyroSteer=-1.0 wallSteer=5.599999999999998 (+25.4 ms)
2026-07-02 09:47:35,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.958809] moveTile applied motor speed left=100 right=95 (+20.5 ms)
2026-07-02 09:47:35,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.963405] moveTile tile color check tempTileColor=V (+4.6 ms)
2026-07-02 09:47:35,296 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.964096] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:35,302 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.969961] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:47:35,304 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.25 deg, practicalMoveTime: 0.4313689480224221 sec
2026-07-02 09:47:35,305 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:47:35,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.972907] moveTile loop end practicalMoveTime=0.431 (+2.9 ms)
2026-07-02 09:47:35,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.973276] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,312 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f7f180990>
2026-07-02 09:47:35,318 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.6, S=254.7, V=146.0
2026-07-02 09:47:35,325 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [288.993136] moveTile calculated motor speeds left=100 right=93 gyroSteer=1.8399999999999181 wallSteer=4.400000000000002 (+19.9 ms)
2026-07-02 09:47:35,347 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.014996] moveTile applied motor speed left=100 right=93 (+21.9 ms)
2026-07-02 09:47:35,352 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.020382] moveTile tile color check tempTileColor=V (+5.4 ms)
2026-07-02 09:47:35,353 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.021044] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:35,359 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.026679] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:35,360 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.1200000000000045 deg, practicalMoveTime: 0.48669804458213334 sec
2026-07-02 09:47:35,362 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:47:35,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.029996] moveTile loop end practicalMoveTime=0.487 (+3.3 ms)
2026-07-02 09:47:35,363 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.030409] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,373 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:35,380 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.7, S=254.8, V=144.3
2026-07-02 09:47:35,386 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.053677] moveTile calculated motor speeds left=100 right=96 gyroSteer=-0.8799999999998818 wallSteer=4.400000000000002 (+23.3 ms)
2026-07-02 09:47:35,412 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.079708] moveTile applied motor speed left=100 right=96 (+26.0 ms)
2026-07-02 09:47:35,417 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.084634] moveTile tile color check tempTileColor=V (+4.9 ms)
2026-07-02 09:47:35,418 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.085740] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:35,422 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.090099] moveTile ramp check isBigRamp=False (+4.4 ms)
2026-07-02 09:47:35,423 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6299999999999955 deg, practicalMoveTime: 0.5481560723747616 sec
2026-07-02 09:47:35,424 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.0 ms
2026-07-02 09:47:35,424 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.091965] moveTile loop end practicalMoveTime=0.548 (+1.9 ms)
2026-07-02 09:47:35,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.092452] moveTile loop start (+0.5 ms)
2026-07-02 09:47:35,431 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d4c3fd0>
2026-07-02 09:47:35,438 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.9, V=159.0
2026-07-02 09:47:35,447 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.115176] moveTile calculated motor speeds left=100 right=99 gyroSteer=-3.759999999999991 wallSteer=4.400000000000002 (+22.7 ms)
2026-07-02 09:47:35,469 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.136476] moveTile applied motor speed left=100 right=99 (+21.3 ms)
2026-07-02 09:47:35,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.141086] moveTile tile color check tempTileColor=V (+4.6 ms)
2026-07-02 09:47:35,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.141733] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:35,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.146073] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:35,480 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3900000000000432 deg, practicalMoveTime: 0.6041059808982957 sec
2026-07-02 09:47:35,481 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.0 ms
2026-07-02 09:47:35,481 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.149189] moveTile loop end practicalMoveTime=0.604 (+3.1 ms)
2026-07-02 09:47:35,482 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.149604] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,487 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:35,493 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.9, V=158.7
2026-07-02 09:47:35,498 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.165628] moveTile calculated motor speeds left=97 right=100 gyroSteer=-6.720000000000027 wallSteer=4.0 (+16.0 ms)
2026-07-02 09:47:35,519 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.186419] moveTile applied motor speed left=97 right=100 (+20.8 ms)
2026-07-02 09:47:35,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.190083] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:47:35,523 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.190687] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:35,527 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.195309] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:35,529 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 2.1100000000000136 deg, practicalMoveTime: 0.6521464399120329 sec
2026-07-02 09:47:35,529 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.6 ms
2026-07-02 09:47:35,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.197736] moveTile loop end practicalMoveTime=0.652 (+2.4 ms)
2026-07-02 09:47:35,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.198142] moveTile loop start (+0.4 ms)
2026-07-02 09:47:35,541 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:35,547 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.2, S=254.9, V=161.2
2026-07-02 09:47:35,555 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.222433] moveTile calculated motor speeds left=91 right=100 gyroSteer=-10.839999999999918 wallSteer=2.400000000000002 (+24.3 ms)
2026-07-02 09:47:35,579 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.246616] moveTile applied motor speed left=91 right=100 (+24.2 ms)
2026-07-02 09:47:35,584 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.251468] moveTile tile color check tempTileColor=V (+4.9 ms)
2026-07-02 09:47:35,585 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.252653] moveTile obstacle check escapeFlag=False (+1.2 ms)
2026-07-02 09:47:35,590 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.258157] moveTile ramp check isBigRamp=False (+5.5 ms)
2026-07-02 09:47:35,591 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.240000000000009 deg, practicalMoveTime: 0.7138313815150205 sec
2026-07-02 09:47:35,592 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.3 ms
2026-07-02 09:47:35,592 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.259993] moveTile loop end practicalMoveTime=0.714 (+1.8 ms)
2026-07-02 09:47:35,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.260468] moveTile loop start (+0.5 ms)
2026-07-02 09:47:35,602 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e3d9050>
2026-07-02 09:47:35,608 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=107.3, S=254.8, V=160.3
2026-07-02 09:47:35,617 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.284959] moveTile calculated motor speeds left=92 right=100 gyroSteer=-9.200000000000045 wallSteer=2.0 (+24.5 ms)
2026-07-02 09:47:35,638 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.305526] moveTile applied motor speed left=92 right=100 (+20.6 ms)
2026-07-02 09:47:35,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.310724] moveTile tile color check tempTileColor=V (+5.2 ms)
2026-07-02 09:47:35,643 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.311378] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:35,651 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.318540] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:47:35,652 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.4700000000000273 deg, practicalMoveTime: 0.773696221347871 sec
2026-07-02 09:47:35,652 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:47:35,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.320576] moveTile loop end practicalMoveTime=0.774 (+2.0 ms)
2026-07-02 09:47:35,654 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.321637] moveTile loop start (+1.1 ms)
2026-07-02 09:47:35,659 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6c189950>
2026-07-02 09:47:35,665 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.5, S=254.9, V=230.0
2026-07-02 09:47:35,672 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.339927] moveTile calculated motor speeds left=89 right=100 gyroSteer=-11.160000000000082 wallSteer=0.8000000000000007 (+18.3 ms)
2026-07-02 09:47:35,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.367967] moveTile applied motor speed left=89 right=100 (+28.0 ms)
2026-07-02 09:47:35,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.373478] moveTile tile color check tempTileColor=V (+5.5 ms)
2026-07-02 09:47:35,706 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.374324] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:35,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.381484] moveTile ramp check isBigRamp=False (+7.2 ms)
2026-07-02 09:47:35,715 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9300000000000068 deg, practicalMoveTime: 0.8360943021321481 sec
2026-07-02 09:47:35,715 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 61.6 ms
2026-07-02 09:47:35,716 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.384069] moveTile loop end practicalMoveTime=0.836 (+2.6 ms)
2026-07-02 09:47:35,717 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.385032] moveTile loop start (+1.0 ms)
2026-07-02 09:47:35,722 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2ed0>
2026-07-02 09:47:35,729 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:35,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.409564] moveTile calculated motor speeds left=95 right=100 gyroSteer=-5.960000000000036 wallSteer=1.1999999999999993 (+24.5 ms)
2026-07-02 09:47:35,764 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.431532] moveTile applied motor speed left=95 right=100 (+22.0 ms)
2026-07-02 09:47:35,767 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.435217] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:47:35,768 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.436230] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:35,775 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.442439] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:35,775 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.6834085280077298 CM
2026-07-02 09:47:35,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.465559] moveTile finished by time control (+23.1 ms)
2026-07-02 09:47:35,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.466290] moveTile start final forward adjustment (+23.9 ms)
2026-07-02 09:47:35,829 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.496796] moveTile finished final forward adjustment (+30.5 ms)
2026-07-02 09:47:36,001 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 189.37116261649956 cm
2026-07-02 09:47:36,004 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 16.060781589723657 cm
2026-07-02 09:47:36,005 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 54.38500510826481 cm
2026-07-02 09:47:36,006 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.011802894809197 cm
2026-07-02 09:47:36,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [289.674975] moveTile updated map and detected walls (+178.2 ms)
2026-07-02 09:47:36,010 - mazeUtils.mazeMap - [mazeMap.py:445] - DEBUG - Silver tile detected, saving cache
2026-07-02 09:47:37,001 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: V
2026-07-02 09:47:37,007 - mazeUtils.moveTile - [moveTile.py:2690] - INFO - Moved to (20, 23, 0), Tile type: V, Wall types: {<absDirection.NORTH: 0>: <wallType.NO_WALL: 1>, <absDirection.EAST: 270>: <wallType.WALL: 2>, <absDirection.SOUTH: 180>: <wallType.NO_WALL: 1>, <absDirection.WEST: 90>: <wallType.WALL: 2>}
2026-07-02 09:47:37,008 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.676047] moveTile finished (+1179.3 ms)
2026-07-02 09:47:37,047 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 1)
2026-07-02 09:47:37,087 - __main__ - [main.py:188] - INFO - Current position: (20, 23, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| @ | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:37,090 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [290.757604] moveTile start direction=absDirection.NORTH position=(20, 23, 0) front=absDirection.NORTH
2026-07-02 09:47:37,096 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.764252] moveTile after initial toggle check (+6.6 ms)
2026-07-02 09:47:37,099 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.766493] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:47:37,099 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 23, 0) facing absDirection.NORTH
2026-07-02 09:47:37,099 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.767368] moveTile start heading change target=0 (+0.9 ms)
2026-07-02 09:47:37,130 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 358.45 target: 0
2026-07-02 09:47:37,148 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 358.45, diff: 1.5500000000000114
2026-07-02 09:47:37,196 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 358.45 deg
2026-07-02 09:47:37,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.864492] moveTile finished heading change (+97.1 ms)
2026-07-02 09:47:37,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.864941] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:47:37,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.865348] moveTile updated front direction (+0.4 ms)
2026-07-02 09:47:37,217 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [290.885054] moveTile stopped motors before alignment (+19.7 ms)
2026-07-02 09:47:37,377 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 189.48450690261808 cm
2026-07-02 09:47:37,380 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 16.160538375290123 cm
2026-07-02 09:47:37,382 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 53.30904423999241 cm
2026-07-02 09:47:37,383 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 15.897577971574995 cm
2026-07-02 09:47:37,383 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.051203] moveTile start position adjustment using LiDAR for back wall. (+166.1 ms)
2026-07-02 09:47:37,409 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Little backward to adjust position
2026-07-02 09:47:37,746 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.414269] moveTile finished backward adjustment (+363.1 ms)
2026-07-02 09:47:37,821 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.489274] moveTile ready for forward move (+75.0 ms)
2026-07-02 09:47:37,849 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:37,850 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.518095] moveTile initialized movement targetSteps=1 (+28.8 ms)
2026-07-02 09:47:37,851 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.519330] moveTile loop start (+1.2 ms)
2026-07-02 09:47:37,859 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d3377d0>
2026-07-02 09:47:37,865 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.4, S=255.0, V=250.5
2026-07-02 09:47:37,870 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.537624] moveTile calculated motor speeds left=99 right=100 gyroSteer=-1.7200000000000273 wallSteer=1.5999999999999979 (+18.3 ms)
2026-07-02 09:47:37,889 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.557045] moveTile applied motor speed left=99 right=100 (+19.4 ms)
2026-07-02 09:47:37,894 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.562294] moveTile tile color check tempTileColor=V (+5.2 ms)
2026-07-02 09:47:37,895 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.562958] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:37,905 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.573197] moveTile ramp check isBigRamp=False (+10.2 ms)
2026-07-02 09:47:37,906 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.05000000000001137 deg, practicalMoveTime: 0.056783654525841165 sec
2026-07-02 09:47:37,907 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:47:37,908 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.575602] moveTile loop end practicalMoveTime=0.057 (+2.4 ms)
2026-07-02 09:47:37,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.576654] moveTile loop start (+1.1 ms)
2026-07-02 09:47:37,916 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d3377d0>
2026-07-02 09:47:37,922 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:37,928 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.596135] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.4800000000000182 wallSteer=1.1999999999999993 (+19.5 ms)
2026-07-02 09:47:37,948 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.616089] moveTile applied motor speed left=100 right=97 (+20.0 ms)
2026-07-02 09:47:37,954 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.621906] moveTile tile color check tempTileColor=V (+5.8 ms)
2026-07-02 09:47:37,955 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.622707] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:37,960 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.627686] moveTile ramp check isBigRamp=False (+5.0 ms)
2026-07-02 09:47:37,961 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.28000000000002956 deg, practicalMoveTime: 0.1106005224969307 sec
2026-07-02 09:47:37,962 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:47:37,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.630728] moveTile loop end practicalMoveTime=0.111 (+3.0 ms)
2026-07-02 09:47:37,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.631195] moveTile loop start (+0.5 ms)
2026-07-02 09:47:37,969 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d3377d0>
2026-07-02 09:47:37,977 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:37,983 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.650391] moveTile calculated motor speeds left=100 right=97 gyroSteer=1.1200000000001182 wallSteer=1.1999999999999993 (+19.2 ms)
2026-07-02 09:47:38,002 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.669677] moveTile applied motor speed left=100 right=97 (+19.3 ms)
2026-07-02 09:47:38,006 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.674297] moveTile tile color check tempTileColor=V (+4.6 ms)
2026-07-02 09:47:38,007 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.675298] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:38,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.680919] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:38,015 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.88 deg, practicalMoveTime: 0.16340439990995426 sec
2026-07-02 09:47:38,016 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.0 ms
2026-07-02 09:47:38,017 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.684698] moveTile loop end practicalMoveTime=0.163 (+3.8 ms)
2026-07-02 09:47:38,017 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.685201] moveTile loop start (+0.5 ms)
2026-07-02 09:47:38,024 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:38,030 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:38,035 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.702398] moveTile calculated motor speeds left=98 right=100 gyroSteer=-2.8799999999998818 wallSteer=1.1999999999999993 (+17.2 ms)
2026-07-02 09:47:38,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.725176] moveTile applied motor speed left=98 right=100 (+22.8 ms)
2026-07-02 09:47:38,061 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.728899] moveTile tile color check tempTileColor=V (+3.7 ms)
2026-07-02 09:47:38,062 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.729573] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:38,067 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.734783] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:38,068 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.40000000000003 deg, practicalMoveTime: 0.21581785050509658 sec
2026-07-02 09:47:38,069 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:47:38,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.736824] moveTile loop end practicalMoveTime=0.216 (+2.0 ms)
2026-07-02 09:47:38,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.737189] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,075 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:38,081 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:38,086 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.753493] moveTile calculated motor speeds left=98 right=100 gyroSteer=-2.0 wallSteer=0.8000000000000007 (+16.3 ms)
2026-07-02 09:47:38,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.773289] moveTile applied motor speed left=98 right=100 (+19.8 ms)
2026-07-02 09:47:38,109 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.777347] moveTile tile color check tempTileColor=V (+4.1 ms)
2026-07-02 09:47:38,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.777976] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:38,123 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.790745] moveTile ramp check isBigRamp=False (+12.8 ms)
2026-07-02 09:47:38,124 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5100000000000477 deg, practicalMoveTime: 0.27111112733893294 sec
2026-07-02 09:47:38,125 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.1 ms
2026-07-02 09:47:38,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.792866] moveTile loop end practicalMoveTime=0.271 (+2.1 ms)
2026-07-02 09:47:38,125 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.793229] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,130 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d409b10>
2026-07-02 09:47:38,136 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.2, S=255.0, V=254.9
2026-07-02 09:47:38,144 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.811675] moveTile calculated motor speeds left=94 right=100 gyroSteer=-5.680000000000064 wallSteer=0.40000000000000213 (+18.4 ms)
2026-07-02 09:47:38,164 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.831856] moveTile applied motor speed left=94 right=100 (+20.2 ms)
2026-07-02 09:47:38,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.835678] moveTile tile color check tempTileColor=V (+3.8 ms)
2026-07-02 09:47:38,168 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.836310] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:38,177 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.844499] moveTile ramp check isBigRamp=False (+8.2 ms)
2026-07-02 09:47:38,178 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7700000000000387 deg, practicalMoveTime: 0.3241172808715583 sec
2026-07-02 09:47:38,178 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.8 ms
2026-07-02 09:47:38,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.846581] moveTile loop end practicalMoveTime=0.324 (+2.1 ms)
2026-07-02 09:47:38,179 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.846950] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,185 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3090>
2026-07-02 09:47:38,191 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.1, S=255.0, V=254.9
2026-07-02 09:47:38,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.872104] moveTile calculated motor speeds left=96 right=100 gyroSteer=-3.9600000000000364 wallSteer=0.0 (+25.2 ms)
2026-07-02 09:47:38,226 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.893590] moveTile applied motor speed left=96 right=100 (+21.5 ms)
2026-07-02 09:47:38,230 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.898221] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:38,231 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.899025] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:38,237 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.904595] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:38,238 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.8400000000000318 deg, practicalMoveTime: 0.38340918515890343 sec
2026-07-02 09:47:38,238 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.0 ms
2026-07-02 09:47:38,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.906565] moveTile loop end practicalMoveTime=0.383 (+2.0 ms)
2026-07-02 09:47:38,239 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.906993] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,247 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d409b10>
2026-07-02 09:47:38,253 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:38,257 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.925052] moveTile calculated motor speeds left=87 right=100 gyroSteer=-11.519999999999982 wallSteer=-0.8000000000000007 (+18.1 ms)
2026-07-02 09:47:38,277 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.945318] moveTile applied motor speed left=87 right=100 (+20.3 ms)
2026-07-02 09:47:38,281 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.948931] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:38,282 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.949488] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:38,286 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.954230] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:47:38,288 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.07000000000005002 deg, practicalMoveTime: 0.433253412943632 sec
2026-07-02 09:47:38,290 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.4 ms
2026-07-02 09:47:38,290 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.958263] moveTile loop end practicalMoveTime=0.433 (+4.0 ms)
2026-07-02 09:47:38,291 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.958724] moveTile loop start (+0.5 ms)
2026-07-02 09:47:38,298 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:38,304 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:47:38,311 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [291.979338] moveTile calculated motor speeds left=93 right=100 gyroSteer=-4.839999999999918 wallSteer=-1.5999999999999979 (+20.6 ms)
2026-07-02 09:47:38,333 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.000734] moveTile applied motor speed left=93 right=100 (+21.4 ms)
2026-07-02 09:47:38,342 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.009712] moveTile tile color check tempTileColor=E (+9.0 ms)
2026-07-02 09:47:38,343 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.011007] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:38,348 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.015810] moveTile ramp check isBigRamp=False (+4.8 ms)
2026-07-02 09:47:38,349 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9399999999999977 deg, practicalMoveTime: 0.49251987101384365 sec
2026-07-02 09:47:38,350 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.6 ms
2026-07-02 09:47:38,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.017888] moveTile loop end practicalMoveTime=0.493 (+2.1 ms)
2026-07-02 09:47:38,350 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.018248] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,357 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:38,363 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.6, S=255.0, V=254.9
2026-07-02 09:47:38,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.039239] moveTile calculated motor speeds left=89 right=100 gyroSteer=-8.3599999999999 wallSteer=-2.3999999999999986 (+21.0 ms)
2026-07-02 09:47:38,393 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.060994] moveTile applied motor speed left=89 right=100 (+21.8 ms)
2026-07-02 09:47:38,397 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.065235] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:38,398 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.065927] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:38,404 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.072253] moveTile ramp check isBigRamp=False (+6.3 ms)
2026-07-02 09:47:38,405 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.910000000000025 deg, practicalMoveTime: 0.5482312655089685 sec
2026-07-02 09:47:38,406 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.5 ms
2026-07-02 09:47:38,406 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.074354] moveTile loop end practicalMoveTime=0.548 (+2.1 ms)
2026-07-02 09:47:38,407 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.074817] moveTile loop start (+0.5 ms)
2026-07-02 09:47:38,413 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:38,419 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.5, S=255.0, V=254.9
2026-07-02 09:47:38,429 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.097011] moveTile calculated motor speeds left=88 right=100 gyroSteer=-8.559999999999945 wallSteer=-2.8000000000000007 (+22.2 ms)
2026-07-02 09:47:38,450 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.118307] moveTile applied motor speed left=88 right=100 (+21.3 ms)
2026-07-02 09:47:38,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.123484] moveTile tile color check tempTileColor=E (+5.2 ms)
2026-07-02 09:47:38,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.124324] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:38,462 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.130161] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:38,464 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5300000000000296 deg, practicalMoveTime: 0.6058946232699204 sec
2026-07-02 09:47:38,465 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:47:38,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.133042] moveTile loop end practicalMoveTime=0.606 (+2.9 ms)
2026-07-02 09:47:38,466 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.133537] moveTile loop start (+0.5 ms)
2026-07-02 09:47:38,472 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:38,478 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:38,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.152401] moveTile calculated motor speeds left=95 right=100 gyroSteer=-1.0 wallSteer=-3.599999999999998 (+18.9 ms)
2026-07-02 09:47:38,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.172615] moveTile applied motor speed left=95 right=100 (+20.2 ms)
2026-07-02 09:47:38,511 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.177959] moveTile tile color check tempTileColor=E (+5.3 ms)
2026-07-02 09:47:38,512 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.179752] moveTile obstacle check escapeFlag=False (+1.8 ms)
2026-07-02 09:47:38,519 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.186888] moveTile ramp check isBigRamp=False (+7.1 ms)
2026-07-02 09:47:38,520 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7100000000000364 deg, practicalMoveTime: 0.6612540276585017 sec
2026-07-02 09:47:38,521 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:47:38,521 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.189341] moveTile loop end practicalMoveTime=0.661 (+2.5 ms)
2026-07-02 09:47:38,522 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.189869] moveTile loop start (+0.5 ms)
2026-07-02 09:47:38,528 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:38,536 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.4, S=255.0, V=254.9
2026-07-02 09:47:38,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.209970] moveTile calculated motor speeds left=95 right=100 gyroSteer=-1.3199999999999363 wallSteer=-3.1999999999999993 (+20.1 ms)
2026-07-02 09:47:38,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.229504] moveTile applied motor speed left=95 right=100 (+19.5 ms)
2026-07-02 09:47:38,565 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.233228] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:38,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.233876] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:38,572 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.239486] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:38,573 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.18000000000000682 deg, practicalMoveTime: 0.7131572577771053 sec
2026-07-02 09:47:38,573 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.1 ms
2026-07-02 09:47:38,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.241539] moveTile loop end practicalMoveTime=0.713 (+2.1 ms)
2026-07-02 09:47:38,574 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.241903] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,585 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c3090>
2026-07-02 09:47:38,591 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.3, S=255.0, V=254.9
2026-07-02 09:47:38,596 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.264356] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.680000000000064 wallSteer=-3.1999999999999993 (+22.5 ms)
2026-07-02 09:47:38,616 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.284217] moveTile applied motor speed left=100 right=97 (+19.9 ms)
2026-07-02 09:47:38,621 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.288793] moveTile tile color check tempTileColor=E (+4.6 ms)
2026-07-02 09:47:38,622 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.289466] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:38,627 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.295268] moveTile ramp check isBigRamp=False (+5.8 ms)
2026-07-02 09:47:38,629 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.7683690571209674 sec
2026-07-02 09:47:38,630 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:47:38,630 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.298358] moveTile loop end practicalMoveTime=0.768 (+3.1 ms)
2026-07-02 09:47:38,631 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.298915] moveTile loop start (+0.6 ms)
2026-07-02 09:47:38,644 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da66fd0>
2026-07-02 09:47:38,650 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:47:38,658 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.325860] moveTile calculated motor speeds left=100 right=96 gyroSteer=6.240000000000009 wallSteer=-2.400000000000002 (+26.9 ms)
2026-07-02 09:47:38,679 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.346823] moveTile applied motor speed left=100 right=96 (+21.0 ms)
2026-07-02 09:47:38,683 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.350580] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:38,683 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.351198] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:38,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.359935] moveTile ramp check isBigRamp=False (+8.7 ms)
2026-07-02 09:47:38,693 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.79 deg, practicalMoveTime: 0.8315579008030577 sec
2026-07-02 09:47:38,694 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 62.5 ms
2026-07-02 09:47:38,694 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.362082] moveTile loop end practicalMoveTime=0.832 (+2.1 ms)
2026-07-02 09:47:38,695 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.362458] moveTile loop start (+0.4 ms)
2026-07-02 09:47:38,701 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:38,707 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.8, S=255.0, V=254.9
2026-07-02 09:47:38,720 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.388294] moveTile calculated motor speeds left=100 right=97 gyroSteer=4.039999999999964 wallSteer=-2.0 (+25.8 ms)
2026-07-02 09:47:38,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.410474] moveTile applied motor speed left=100 right=97 (+22.2 ms)
2026-07-02 09:47:38,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.416215] moveTile tile color check tempTileColor=E (+5.7 ms)
2026-07-02 09:47:38,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.416908] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:38,755 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.422534] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:38,756 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.194670471658792 CM
2026-07-02 09:47:38,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.443785] moveTile finished by time control (+21.3 ms)
2026-07-02 09:47:38,777 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.444624] moveTile start final forward adjustment (+22.1 ms)
2026-07-02 09:47:38,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.477391] moveTile finished final forward adjustment (+32.8 ms)
2026-07-02 09:47:38,960 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 163.89511915748338 cm
2026-07-02 09:47:38,963 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.59762442585133 cm
2026-07-02 09:47:38,964 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 79.11383457457774 cm
2026-07-02 09:47:38,966 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.200000762939453 cm
2026-07-02 09:47:38,967 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.634513] moveTile updated map and detected walls (+157.1 ms)
2026-07-02 09:47:38,969 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:38,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.637687] moveTile finished (+160.3 ms)
2026-07-02 09:47:39,008 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 2)
2026-07-02 09:47:39,044 - __main__ - [main.py:188] - INFO - Current position: (20, 22, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| @ | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:39,046 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [292.713815] moveTile start direction=absDirection.NORTH position=(20, 22, 0) front=absDirection.NORTH
2026-07-02 09:47:39,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.720095] moveTile after initial toggle check (+6.3 ms)
2026-07-02 09:47:39,055 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.722972] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.9 ms)
2026-07-02 09:47:39,057 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 22, 0) facing absDirection.NORTH
2026-07-02 09:47:39,057 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.725388] moveTile start heading change target=0 (+2.4 ms)
2026-07-02 09:47:39,083 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 0.910000000000025 target: 0
2026-07-02 09:47:39,107 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 0.910000000000025, diff: 0.910000000000025
2026-07-02 09:47:39,152 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 1.0300000000000296 deg
2026-07-02 09:47:39,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.820875] moveTile finished heading change (+95.5 ms)
2026-07-02 09:47:39,153 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.821319] Adjustment after ramp completed (+0.4 ms)
2026-07-02 09:47:39,154 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.821726] moveTile updated front direction (+0.4 ms)
2026-07-02 09:47:39,174 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [292.842155] moveTile stopped motors before alignment (+20.4 ms)
2026-07-02 09:47:39,328 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 164.85638085342168 cm
2026-07-02 09:47:39,331 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 15.50971062185625 cm
2026-07-02 09:47:39,332 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 78.1937370918667 cm
2026-07-02 09:47:39,333 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 16.399999618530273 cm
2026-07-02 09:47:39,334 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.002071] moveTile ready for forward move (+159.9 ms)
2026-07-02 09:47:39,359 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:39,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.028078] moveTile initialized movement targetSteps=1 (+26.0 ms)
2026-07-02 09:47:39,362 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.029728] moveTile loop start (+1.7 ms)
2026-07-02 09:47:39,369 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da66fd0>
2026-07-02 09:47:39,375 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.5, S=255.0, V=254.9
2026-07-02 09:47:39,381 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.048662] moveTile calculated motor speeds left=97 right=100 gyroSteer=-0.9200000000000728 wallSteer=-1.5999999999999979 (+18.9 ms)
2026-07-02 09:47:39,401 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.068695] moveTile applied motor speed left=97 right=100 (+20.0 ms)
2026-07-02 09:47:39,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.072449] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:39,405 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.073140] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:39,411 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.078741] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:39,412 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.35 deg, practicalMoveTime: 0.052414382058051386 sec
2026-07-02 09:47:39,413 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.6 ms
2026-07-02 09:47:39,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.080944] moveTile loop end practicalMoveTime=0.052 (+2.2 ms)
2026-07-02 09:47:39,413 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.081366] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,418 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee950>
2026-07-02 09:47:39,425 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.2, S=255.0, V=254.9
2026-07-02 09:47:39,431 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.098907] moveTile calculated motor speeds left=96 right=100 gyroSteer=-1.0799999999999272 wallSteer=-2.0 (+17.5 ms)
2026-07-02 09:47:39,452 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.119546] moveTile applied motor speed left=96 right=100 (+20.6 ms)
2026-07-02 09:47:39,456 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.124065] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:39,457 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.124726] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:39,463 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.130433] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:39,464 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.15000000000003 deg, practicalMoveTime: 0.10370759381452146 sec
2026-07-02 09:47:39,465 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.0 ms
2026-07-02 09:47:39,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.132930] moveTile loop end practicalMoveTime=0.104 (+2.5 ms)
2026-07-02 09:47:39,465 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.133304] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,477 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:39,484 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.3, S=255.0, V=254.9
2026-07-02 09:47:39,492 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.159599] moveTile calculated motor speeds left=95 right=100 gyroSteer=-2.0399999999999636 wallSteer=-2.0 (+26.3 ms)
2026-07-02 09:47:39,513 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.181166] moveTile applied motor speed left=95 right=100 (+21.6 ms)
2026-07-02 09:47:39,517 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.185025] moveTile tile color check tempTileColor=E (+3.9 ms)
2026-07-02 09:47:39,518 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.185747] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:39,523 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.191173] moveTile ramp check isBigRamp=False (+5.4 ms)
2026-07-02 09:47:39,524 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.16342546260865704 sec
2026-07-02 09:47:39,525 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.5 ms
2026-07-02 09:47:39,525 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.193390] moveTile loop end practicalMoveTime=0.163 (+2.2 ms)
2026-07-02 09:47:39,526 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.193765] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,533 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:39,539 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.7, S=255.0, V=254.9
2026-07-02 09:47:39,545 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.212949] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.0 wallSteer=-2.400000000000002 (+19.2 ms)
2026-07-02 09:47:39,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.233467] moveTile applied motor speed left=98 right=100 (+20.5 ms)
2026-07-02 09:47:39,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.237748] moveTile tile color check tempTileColor=E (+4.3 ms)
2026-07-02 09:47:39,570 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.238393] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:39,576 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.243605] moveTile ramp check isBigRamp=False (+5.2 ms)
2026-07-02 09:47:39,577 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.36000000000001364 deg, practicalMoveTime: 0.21549648293826248 sec
2026-07-02 09:47:39,578 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:47:39,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.246029] moveTile loop end practicalMoveTime=0.215 (+2.4 ms)
2026-07-02 09:47:39,578 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.246393] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,585 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee950>
2026-07-02 09:47:39,592 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:39,598 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.265796] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.0 wallSteer=-2.3999999999999986 (+19.4 ms)
2026-07-02 09:47:39,617 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.285241] moveTile applied motor speed left=98 right=100 (+19.4 ms)
2026-07-02 09:47:39,623 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.290797] moveTile tile color check tempTileColor=E (+5.6 ms)
2026-07-02 09:47:39,624 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.291473] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:39,633 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.300606] moveTile ramp check isBigRamp=False (+9.1 ms)
2026-07-02 09:47:39,634 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.3900000000000432 deg, practicalMoveTime: 0.2714331925221616 sec
2026-07-02 09:47:39,634 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 55.7 ms
2026-07-02 09:47:39,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.302583] moveTile loop end practicalMoveTime=0.271 (+2.0 ms)
2026-07-02 09:47:39,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.302949] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,642 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:39,647 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.6, S=255.0, V=254.9
2026-07-02 09:47:39,653 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.320638] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.2000000000000455 wallSteer=-2.3999999999999986 (+17.7 ms)
2026-07-02 09:47:39,678 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.345678] moveTile applied motor speed left=100 right=97 (+25.0 ms)
2026-07-02 09:47:39,681 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.349317] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:39,682 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.349877] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:39,691 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.358502] moveTile ramp check isBigRamp=False (+8.6 ms)
2026-07-02 09:47:39,692 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.160000000000025 deg, practicalMoveTime: 0.3288102137892744 sec
2026-07-02 09:47:39,692 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.3 ms
2026-07-02 09:47:39,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.360936] moveTile loop end practicalMoveTime=0.329 (+2.4 ms)
2026-07-02 09:47:39,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.361365] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,701 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:39,709 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.4, S=255.0, V=254.9
2026-07-02 09:47:39,714 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.381854] moveTile calculated motor speeds left=100 right=93 gyroSteer=9.360000000000127 wallSteer=-2.8000000000000007 (+20.5 ms)
2026-07-02 09:47:39,734 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.401643] moveTile applied motor speed left=100 right=93 (+19.8 ms)
2026-07-02 09:47:39,742 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.409990] moveTile tile color check tempTileColor=E (+8.3 ms)
2026-07-02 09:47:39,743 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.410963] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:39,749 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.417182] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:39,750 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.7100000000000364 deg, practicalMoveTime: 0.386551475313776 sec
2026-07-02 09:47:39,751 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.2 ms
2026-07-02 09:47:39,751 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.419123] moveTile loop end practicalMoveTime=0.387 (+1.9 ms)
2026-07-02 09:47:39,752 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.419489] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,757 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6da66fd0>
2026-07-02 09:47:39,764 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=96.9, S=255.0, V=254.9
2026-07-02 09:47:39,776 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.443964] moveTile calculated motor speeds left=100 right=94 gyroSteer=7.880000000000109 wallSteer=-2.400000000000002 (+24.5 ms)
2026-07-02 09:47:39,798 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.466087] moveTile applied motor speed left=100 right=94 (+22.1 ms)
2026-07-02 09:47:39,803 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.470460] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:39,803 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.471250] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:39,810 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.477683] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:39,811 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4000000000000341 deg, practicalMoveTime: 0.44650036608108123 sec
2026-07-02 09:47:39,812 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 60.3 ms
2026-07-02 09:47:39,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.480533] moveTile loop end practicalMoveTime=0.447 (+2.9 ms)
2026-07-02 09:47:39,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.480995] moveTile loop start (+0.5 ms)
2026-07-02 09:47:39,820 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:39,826 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:39,833 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.501133] moveTile calculated motor speeds left=100 right=97 gyroSteer=4.480000000000018 wallSteer=-2.400000000000002 (+20.1 ms)
2026-07-02 09:47:39,853 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.520677] moveTile applied motor speed left=100 right=97 (+19.5 ms)
2026-07-02 09:47:39,856 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.524329] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:39,857 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.524949] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:39,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.531369] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:39,865 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.5 deg, practicalMoveTime: 0.4989688138002245 sec
2026-07-02 09:47:39,866 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.1 ms
2026-07-02 09:47:39,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.534822] moveTile loop end practicalMoveTime=0.499 (+3.5 ms)
2026-07-02 09:47:39,867 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.535256] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,874 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:39,882 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.0, S=255.0, V=254.9
2026-07-02 09:47:39,887 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.554815] moveTile calculated motor speeds left=100 right=97 gyroSteer=5.0 wallSteer=-2.3999999999999986 (+19.6 ms)
2026-07-02 09:47:39,907 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.574387] moveTile applied motor speed left=100 right=97 (+19.6 ms)
2026-07-02 09:47:39,912 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.580211] moveTile tile color check tempTileColor=E (+5.8 ms)
2026-07-02 09:47:39,913 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.581034] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:39,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.585698] moveTile ramp check isBigRamp=False (+4.7 ms)
2026-07-02 09:47:39,919 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.9399999999999977 deg, practicalMoveTime: 0.5515606884402012 sec
2026-07-02 09:47:39,920 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 52.2 ms
2026-07-02 09:47:39,920 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.588173] moveTile loop end practicalMoveTime=0.552 (+2.5 ms)
2026-07-02 09:47:39,921 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.588607] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,928 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d337810>
2026-07-02 09:47:39,934 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=97.8, S=255.0, V=254.9
2026-07-02 09:47:39,941 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.609107] moveTile calculated motor speeds left=98 right=100 gyroSteer=1.8800000000001091 wallSteer=-3.1999999999999993 (+20.5 ms)
2026-07-02 09:47:39,963 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.630932] moveTile applied motor speed left=98 right=100 (+21.8 ms)
2026-07-02 09:47:39,969 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.637165] moveTile tile color check tempTileColor=E (+6.2 ms)
2026-07-02 09:47:39,970 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.637860] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:39,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.644685] moveTile ramp check isBigRamp=False (+6.8 ms)
2026-07-02 09:47:39,978 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.03000000000002956 deg, practicalMoveTime: 0.609647790997155 sec
2026-07-02 09:47:39,978 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.5 ms
2026-07-02 09:47:39,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.646649] moveTile loop end practicalMoveTime=0.610 (+2.0 ms)
2026-07-02 09:47:39,979 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.647015] moveTile loop start (+0.4 ms)
2026-07-02 09:47:39,985 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:39,991 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.2, S=255.0, V=254.9
2026-07-02 09:47:39,995 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.663290] moveTile calculated motor speeds left=93 right=100 gyroSteer=-2.8799999999998818 wallSteer=-3.1999999999999993 (+16.3 ms)
2026-07-02 09:47:40,015 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.683306] moveTile applied motor speed left=93 right=100 (+20.0 ms)
2026-07-02 09:47:40,019 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.687066] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:40,020 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.687626] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:40,024 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.692093] moveTile ramp check isBigRamp=False (+4.5 ms)
2026-07-02 09:47:40,026 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.75 deg, practicalMoveTime: 0.6574209358515525 sec
2026-07-02 09:47:40,027 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.7 ms
2026-07-02 09:47:40,027 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.695370] moveTile loop end practicalMoveTime=0.657 (+3.3 ms)
2026-07-02 09:47:40,028 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.695829] moveTile loop start (+0.5 ms)
2026-07-02 09:47:40,039 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee950>
2026-07-02 09:47:40,046 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.0, S=255.0, V=254.8
2026-07-02 09:47:40,052 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.719474] moveTile calculated motor speeds left=90 right=100 gyroSteer=-6.0 wallSteer=-3.1999999999999993 (+23.6 ms)
2026-07-02 09:47:40,071 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.738661] moveTile applied motor speed left=90 right=100 (+19.2 ms)
2026-07-02 09:47:40,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.743444] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:47:40,076 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.744101] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:40,081 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.749039] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:40,082 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.58000000000004 deg, practicalMoveTime: 0.7125666252255101 sec
2026-07-02 09:47:40,083 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:47:40,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.751048] moveTile loop end practicalMoveTime=0.713 (+2.0 ms)
2026-07-02 09:47:40,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.751446] moveTile loop start (+0.4 ms)
2026-07-02 09:47:40,090 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d409b10>
2026-07-02 09:47:40,095 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:47:40,105 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.772830] moveTile calculated motor speeds left=88 right=100 gyroSteer=-8.0 wallSteer=-3.599999999999998 (+21.4 ms)
2026-07-02 09:47:40,126 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.793735] moveTile applied motor speed left=88 right=100 (+20.9 ms)
2026-07-02 09:47:40,130 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.797889] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:40,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.798896] moveTile obstacle check escapeFlag=False (+1.0 ms)
2026-07-02 09:47:40,137 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.804568] moveTile ramp check isBigRamp=False (+5.7 ms)
2026-07-02 09:47:40,138 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.160000000000025 deg, practicalMoveTime: 0.7674410698482994 sec
2026-07-02 09:47:40,138 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.6 ms
2026-07-02 09:47:40,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.806576] moveTile loop end practicalMoveTime=0.767 (+2.0 ms)
2026-07-02 09:47:40,139 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.806988] moveTile loop start (+0.4 ms)
2026-07-02 09:47:40,145 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:40,152 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:47:40,162 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.829885] moveTile calculated motor speeds left=91 right=100 gyroSteer=-4.0 wallSteer=-4.400000000000002 (+22.9 ms)
2026-07-02 09:47:40,184 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.851529] moveTile applied motor speed left=91 right=100 (+21.6 ms)
2026-07-02 09:47:40,187 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.855272] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:40,189 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.856545] moveTile obstacle check escapeFlag=False (+1.3 ms)
2026-07-02 09:47:40,195 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.863188] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:40,196 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.74 deg, practicalMoveTime: 0.8255881399954295 sec
2026-07-02 09:47:40,197 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.9 ms
2026-07-02 09:47:40,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.865411] moveTile loop end practicalMoveTime=0.826 (+2.2 ms)
2026-07-02 09:47:40,198 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.865775] moveTile loop start (+0.4 ms)
2026-07-02 09:47:40,203 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:40,210 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.9, S=255.0, V=254.8
2026-07-02 09:47:40,215 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.882931] moveTile calculated motor speeds left=87 right=100 gyroSteer=-7.0 wallSteer=-5.199999999999999 (+17.2 ms)
2026-07-02 09:47:40,240 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.908196] moveTile applied motor speed left=87 right=100 (+25.3 ms)
2026-07-02 09:47:40,244 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.912244] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:40,245 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.913110] moveTile obstacle check escapeFlag=False (+0.9 ms)
2026-07-02 09:47:40,252 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.919461] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:40,252 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.10098614978021087 CM
2026-07-02 09:47:40,273 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.940746] moveTile finished by time control (+21.3 ms)
2026-07-02 09:47:40,274 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.941463] moveTile start final forward adjustment (+22.0 ms)
2026-07-02 09:47:40,305 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [293.972666] moveTile finished final forward adjustment (+31.2 ms)
2026-07-02 09:47:40,463 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 133.51676574911104 cm
2026-07-02 09:47:40,466 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 14.291289970085106 cm
2026-07-02 09:47:40,467 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 109.28255534051954 cm
2026-07-02 09:47:40,469 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.276290189360257 cm
2026-07-02 09:47:40,470 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.137682] moveTile updated map and detected walls (+165.0 ms)
2026-07-02 09:47:40,473 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:40,473 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.141229] moveTile finished (+168.6 ms)
2026-07-02 09:47:40,514 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 3)
2026-07-02 09:47:40,552 - __main__ - [main.py:188] - INFO - Current position: (20, 21, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| E   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| @ | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:40,557 - mazeUtils.moveTile - [moveTile.py:88] - DEBUG - [294.224539] moveTile start direction=absDirection.NORTH position=(20, 21, 0) front=absDirection.NORTH
2026-07-02 09:47:40,564 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.231642] moveTile after initial toggle check (+7.1 ms)
2026-07-02 09:47:40,566 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.233853] moveTile after tile checks isRedTile=False isUnknownTileAhead=False (+2.2 ms)
2026-07-02 09:47:40,566 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Moving to absDirection.NORTH from (20, 21, 0) facing absDirection.NORTH
2026-07-02 09:47:40,567 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.234780] moveTile start heading change target=0 (+0.9 ms)
2026-07-02 09:47:40,592 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - current heading: 359.8 target: 0
2026-07-02 09:47:40,619 - mazeUtils.moveTile - [moveTile.py:441] - DEBUG - stopped turning at heading: 359.8, diff: 0.19999999999998863
2026-07-02 09:47:40,664 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - Turned to heading: 359.81 deg
2026-07-02 09:47:40,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.332739] moveTile finished heading change (+98.0 ms)
2026-07-02 09:47:40,665 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.333190] Adjustment after ramp completed (+0.5 ms)
2026-07-02 09:47:40,666 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.333637] moveTile updated front direction (+0.4 ms)
2026-07-02 09:47:40,685 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.352597] moveTile stopped motors before alignment (+19.0 ms)
2026-07-02 09:47:40,831 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 133.27454798174085 cm
2026-07-02 09:47:40,833 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 14.597775777165872 cm
2026-07-02 09:47:40,834 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 108.78445799147366 cm
2026-07-02 09:47:40,835 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.289460544955666 cm
2026-07-02 09:47:40,836 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.503510] moveTile ready for forward move (+150.9 ms)
2026-07-02 09:47:40,862 - mazeUtils.moveTile - [moveTile.py:1848] - DEBUG - Calculated target steps to next tile: 1 based on distance 30 cm
2026-07-02 09:47:40,863 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.530577] moveTile initialized movement targetSteps=1 (+27.1 ms)
2026-07-02 09:47:40,864 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.531784] moveTile loop start (+1.2 ms)
2026-07-02 09:47:40,871 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d3377d0>
2026-07-02 09:47:40,877 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.6, S=254.9, V=254.7
2026-07-02 09:47:40,885 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.552864] moveTile calculated motor speeds left=100 right=99 gyroSteer=5.720000000000027 wallSteer=-4.800000000000001 (+21.1 ms)
2026-07-02 09:47:40,906 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.573524] moveTile applied motor speed left=100 right=99 (+20.7 ms)
2026-07-02 09:47:40,909 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.577241] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:40,910 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.578309] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:40,916 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.583640] moveTile ramp check isBigRamp=False (+5.3 ms)
2026-07-02 09:47:40,917 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.42 deg, practicalMoveTime: 0.054656327662381196 sec
2026-07-02 09:47:40,917 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 53.3 ms
2026-07-02 09:47:40,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.585618] moveTile loop end practicalMoveTime=0.055 (+2.0 ms)
2026-07-02 09:47:40,918 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.586161] moveTile loop start (+0.5 ms)
2026-07-02 09:47:40,925 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:40,931 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=98.7, S=255.0, V=254.8
2026-07-02 09:47:40,936 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.603978] moveTile calculated motor speeds left=100 right=99 gyroSteer=6.2000000000000455 wallSteer=-5.600000000000001 (+17.8 ms)
2026-07-02 09:47:40,961 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.629034] moveTile applied motor speed left=100 right=99 (+25.1 ms)
2026-07-02 09:47:40,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.633436] moveTile tile color check tempTileColor=E (+4.4 ms)
2026-07-02 09:47:40,966 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.634242] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:40,974 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.641516] moveTile ramp check isBigRamp=False (+7.3 ms)
2026-07-02 09:47:40,975 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.3900000000000432 deg, practicalMoveTime: 0.11194646936146196 sec
2026-07-02 09:47:40,976 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.4 ms
2026-07-02 09:47:40,976 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.644340] moveTile loop end practicalMoveTime=0.112 (+2.8 ms)
2026-07-02 09:47:40,977 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.644763] moveTile loop start (+0.4 ms)
2026-07-02 09:47:40,982 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:40,989 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.6, S=255.0, V=254.8
2026-07-02 09:47:40,993 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.661285] moveTile calculated motor speeds left=100 right=97 gyroSteer=7.920000000000073 wallSteer=-5.600000000000001 (+16.5 ms)
2026-07-02 09:47:41,013 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.680764] moveTile applied motor speed left=100 right=97 (+19.5 ms)
2026-07-02 09:47:41,017 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.684497] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:41,017 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.685296] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:41,023 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.690429] moveTile ramp check isBigRamp=False (+5.1 ms)
2026-07-02 09:47:41,023 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 358.92 deg, practicalMoveTime: 0.15958452759214586 sec
2026-07-02 09:47:41,024 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 47.0 ms
2026-07-02 09:47:41,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.692450] moveTile loop end practicalMoveTime=0.160 (+2.0 ms)
2026-07-02 09:47:41,025 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.692854] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,035 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:41,042 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.3, S=255.0, V=254.8
2026-07-02 09:47:41,048 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.715908] moveTile calculated motor speeds left=100 right=94 gyroSteer=10.6400000000001 wallSteer=-5.600000000000001 (+23.1 ms)
2026-07-02 09:47:41,069 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.736961] moveTile applied motor speed left=100 right=94 (+21.1 ms)
2026-07-02 09:47:41,074 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.741692] moveTile tile color check tempTileColor=E (+4.7 ms)
2026-07-02 09:47:41,075 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.742750] moveTile obstacle check escapeFlag=False (+1.1 ms)
2026-07-02 09:47:41,080 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.748344] moveTile ramp check isBigRamp=False (+5.6 ms)
2026-07-02 09:47:41,082 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.6500000000000341 deg, practicalMoveTime: 0.2173930212889311 sec
2026-07-02 09:47:41,083 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 57.6 ms
2026-07-02 09:47:41,083 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.751234] moveTile loop end practicalMoveTime=0.217 (+2.9 ms)
2026-07-02 09:47:41,084 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.751717] moveTile loop start (+0.5 ms)
2026-07-02 09:47:41,095 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:41,101 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.0, S=255.0, V=254.8
2026-07-02 09:47:41,110 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.777426] moveTile calculated motor speeds left=100 right=99 gyroSteer=5.360000000000127 wallSteer=-5.200000000000003 (+25.7 ms)
2026-07-02 09:47:41,131 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.798649] moveTile applied motor speed left=100 right=99 (+21.2 ms)
2026-07-02 09:47:41,134 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.802274] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:41,135 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.802803] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:41,141 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.808725] moveTile ramp check isBigRamp=False (+5.9 ms)
2026-07-02 09:47:41,142 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.20000000000004547 deg, practicalMoveTime: 0.27665016759613675 sec
2026-07-02 09:47:41,144 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.6 ms
2026-07-02 09:47:41,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.812533] moveTile loop end practicalMoveTime=0.277 (+3.8 ms)
2026-07-02 09:47:41,145 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.812971] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,151 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e34bf90>
2026-07-02 09:47:41,159 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.0, S=255.0, V=254.8
2026-07-02 09:47:41,167 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.834489] moveTile calculated motor speeds left=95 right=100 gyroSteer=0.8800000000001091 wallSteer=-5.199999999999999 (+21.5 ms)
2026-07-02 09:47:41,191 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.859347] moveTile applied motor speed left=95 right=100 (+24.9 ms)
2026-07-02 09:47:41,196 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.864140] moveTile tile color check tempTileColor=E (+4.8 ms)
2026-07-02 09:47:41,197 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.864848] moveTile obstacle check escapeFlag=False (+0.7 ms)
2026-07-02 09:47:41,204 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.871397] moveTile ramp check isBigRamp=False (+6.5 ms)
2026-07-02 09:47:41,204 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.6800000000000068 deg, practicalMoveTime: 0.337455566224817 sec
2026-07-02 09:47:41,205 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.9 ms
2026-07-02 09:47:41,205 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.873384] moveTile loop end practicalMoveTime=0.337 (+2.0 ms)
2026-07-02 09:47:41,206 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.873748] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,214 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:41,220 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=100.0, S=255.0, V=254.8
2026-07-02 09:47:41,227 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.894435] moveTile calculated motor speeds left=92 right=100 gyroSteer=-1.8399999999999181 wallSteer=-5.600000000000001 (+20.7 ms)
2026-07-02 09:47:41,246 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.914080] moveTile applied motor speed left=92 right=100 (+19.6 ms)
2026-07-02 09:47:41,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.917702] moveTile tile color check tempTileColor=E (+3.6 ms)
2026-07-02 09:47:41,250 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.918200] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:41,262 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.929618] moveTile ramp check isBigRamp=False (+11.4 ms)
2026-07-02 09:47:41,263 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.040000000000020464 deg, practicalMoveTime: 0.3955579213740942 sec
2026-07-02 09:47:41,264 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 58.1 ms
2026-07-02 09:47:41,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.932724] moveTile loop end practicalMoveTime=0.396 (+3.1 ms)
2026-07-02 09:47:41,265 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.933258] moveTile loop start (+0.5 ms)
2026-07-02 09:47:41,271 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee950>
2026-07-02 09:47:41,277 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=255.0, V=254.8
2026-07-02 09:47:41,283 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.951179] moveTile calculated motor speeds left=97 right=100 gyroSteer=3.5599999999999454 wallSteer=-6.0 (+17.9 ms)
2026-07-02 09:47:41,303 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.970577] moveTile applied motor speed left=97 right=100 (+19.4 ms)
2026-07-02 09:47:41,306 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.974243] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:41,307 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.975006] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:41,319 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.986572] moveTile ramp check isBigRamp=False (+11.6 ms)
2026-07-02 09:47:41,320 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4900000000000091 deg, practicalMoveTime: 0.4510957367522756 sec
2026-07-02 09:47:41,320 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.9 ms
2026-07-02 09:47:41,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.988702] moveTile loop end practicalMoveTime=0.451 (+2.1 ms)
2026-07-02 09:47:41,321 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [294.989135] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,327 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e34bdd0>
2026-07-02 09:47:41,335 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:47:41,341 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.008769] moveTile calculated motor speeds left=93 right=100 gyroSteer=-0.31999999999993634 wallSteer=-6.0 (+19.6 ms)
2026-07-02 09:47:41,360 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.028358] moveTile applied motor speed left=93 right=100 (+19.6 ms)
2026-07-02 09:47:41,364 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.032117] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:41,365 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.032637] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:41,371 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.039260] moveTile ramp check isBigRamp=False (+6.6 ms)
2026-07-02 09:47:41,372 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.5 deg, practicalMoveTime: 0.5031350473698841 sec
2026-07-02 09:47:41,373 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 51.7 ms
2026-07-02 09:47:41,373 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.041314] moveTile loop end practicalMoveTime=0.503 (+2.1 ms)
2026-07-02 09:47:41,374 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.041685] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,385 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee9d0>
2026-07-02 09:47:41,391 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:47:41,400 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.067428] moveTile calculated motor speeds left=100 right=97 gyroSteer=2.4400000000000546 wallSteer=0.3999999999999986 (+25.7 ms)
2026-07-02 09:47:41,421 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.088890] moveTile applied motor speed left=100 right=97 (+21.5 ms)
2026-07-02 09:47:41,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.092591] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:41,425 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.093387] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:41,432 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.099548] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:41,433 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.410000000000025 deg, practicalMoveTime: 0.5627364972011316 sec
2026-07-02 09:47:41,433 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 59.4 ms
2026-07-02 09:47:41,434 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.101681] moveTile loop end practicalMoveTime=0.563 (+2.1 ms)
2026-07-02 09:47:41,435 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.102524] moveTile loop start (+0.8 ms)
2026-07-02 09:47:41,441 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:41,448 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:47:41,454 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.121890] moveTile calculated motor speeds left=100 right=98 gyroSteer=0.20000000000004547 wallSteer=0.8000000000000007 (+19.4 ms)
2026-07-02 09:47:41,474 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.141977] moveTile applied motor speed left=100 right=98 (+20.1 ms)
2026-07-02 09:47:41,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.145635] moveTile tile color check tempTileColor=E (+3.7 ms)
2026-07-02 09:47:41,478 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.146149] moveTile obstacle check escapeFlag=False (+0.5 ms)
2026-07-02 09:47:41,483 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.150418] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:41,483 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.29000000000002046 deg, practicalMoveTime: 0.6127942208649344 sec
2026-07-02 09:47:41,484 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 49.3 ms
2026-07-02 09:47:41,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.152556] moveTile loop end practicalMoveTime=0.613 (+2.1 ms)
2026-07-02 09:47:41,485 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.153063] moveTile loop start (+0.5 ms)
2026-07-02 09:47:41,491 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee950>
2026-07-02 09:47:41,497 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.2, S=255.0, V=254.8
2026-07-02 09:47:41,505 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.172994] moveTile calculated motor speeds left=100 right=99 gyroSteer=-0.31999999999993634 wallSteer=1.1999999999999993 (+19.9 ms)
2026-07-02 09:47:41,530 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.197586] moveTile applied motor speed left=100 right=99 (+24.6 ms)
2026-07-02 09:47:41,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.201627] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:41,534 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.202247] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:41,539 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.207187] moveTile ramp check isBigRamp=False (+4.9 ms)
2026-07-02 09:47:41,541 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.46000000000004 deg, practicalMoveTime: 0.6694185026275932 sec
2026-07-02 09:47:41,541 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 56.1 ms
2026-07-02 09:47:41,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.209711] moveTile loop end practicalMoveTime=0.669 (+2.5 ms)
2026-07-02 09:47:41,542 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.210075] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,548 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:41,554 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.1, S=255.0, V=254.8
2026-07-02 09:47:41,562 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.229725] moveTile calculated motor speeds left=100 right=99 gyroSteer=-2.3999999999998636 wallSteer=2.3999999999999986 (+19.7 ms)
2026-07-02 09:47:41,582 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.249780] moveTile applied motor speed left=100 right=99 (+20.1 ms)
2026-07-02 09:47:41,586 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.253811] moveTile tile color check tempTileColor=E (+4.0 ms)
2026-07-02 09:47:41,587 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.254447] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:41,591 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.259024] moveTile ramp check isBigRamp=False (+4.6 ms)
2026-07-02 09:47:41,592 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 0.4600000000000364 deg, practicalMoveTime: 0.7201101424113473 sec
2026-07-02 09:47:41,593 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.5 ms
2026-07-02 09:47:41,593 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.261123] moveTile loop end practicalMoveTime=0.720 (+2.1 ms)
2026-07-02 09:47:41,594 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.261491] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,600 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6d2ee990>
2026-07-02 09:47:41,607 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.9, S=255.0, V=254.8
2026-07-02 09:47:41,615 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.282773] moveTile calculated motor speeds left=96 right=100 gyroSteer=-5.960000000000036 wallSteer=2.3999999999999986 (+21.3 ms)
2026-07-02 09:47:41,635 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.302975] moveTile applied motor speed left=96 right=100 (+20.2 ms)
2026-07-02 09:47:41,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.307439] moveTile tile color check tempTileColor=E (+4.5 ms)
2026-07-02 09:47:41,640 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.308229] moveTile obstacle check escapeFlag=False (+0.8 ms)
2026-07-02 09:47:41,647 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.314675] moveTile ramp check isBigRamp=False (+6.4 ms)
2026-07-02 09:47:41,648 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 359.89000000000004 deg, practicalMoveTime: 0.7750130716241485 sec
2026-07-02 09:47:41,648 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 54.7 ms
2026-07-02 09:47:41,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.316795] moveTile loop end practicalMoveTime=0.775 (+2.1 ms)
2026-07-02 09:47:41,649 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.317165] moveTile loop start (+0.4 ms)
2026-07-02 09:47:41,657 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e5c2f50>
2026-07-02 09:47:41,663 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.8, S=255.0, V=254.8
2026-07-02 09:47:41,669 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.336848] moveTile calculated motor speeds left=94 right=100 gyroSteer=-6.160000000000082 wallSteer=0.3999999999999986 (+19.7 ms)
2026-07-02 09:47:41,689 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.356458] moveTile applied motor speed left=94 right=100 (+19.6 ms)
2026-07-02 09:47:41,692 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.360249] moveTile tile color check tempTileColor=E (+3.8 ms)
2026-07-02 09:47:41,693 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.360866] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:41,697 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.365173] moveTile ramp check isBigRamp=False (+4.3 ms)
2026-07-02 09:47:41,698 - mazeUtils.moveTile - [moveTile.py:79] - DEBUG - roll: 1.1100000000000136 deg, practicalMoveTime: 0.8247800466038131 sec
2026-07-02 09:47:41,699 - mazeUtils.moveTile - [moveTile.py:2283] - DEBUG - moveTile loop time: 50.0 ms
2026-07-02 09:47:41,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.367785] moveTile loop end practicalMoveTime=0.825 (+2.6 ms)
2026-07-02 09:47:41,700 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.368385] moveTile loop start (+0.6 ms)
2026-07-02 09:47:41,712 - picamera2.picamera2 - [picamera2.py:1391] - DEBUG - Execute job: <picamera2.job.Job object at 0x7f6e34bf10>
2026-07-02 09:47:41,719 - mazeUtils.device.camera - [camera.py:39] - DEBUG - Average HSV: H=99.9, S=255.0, V=254.8
2026-07-02 09:47:41,727 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.394952] moveTile calculated motor speeds left=93 right=100 gyroSteer=-6.839999999999918 wallSteer=0.0 (+26.6 ms)
2026-07-02 09:47:41,748 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.416352] moveTile applied motor speed left=93 right=100 (+21.4 ms)
2026-07-02 09:47:41,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.420595] moveTile tile color check tempTileColor=E (+4.2 ms)
2026-07-02 09:47:41,753 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.421210] moveTile obstacle check escapeFlag=False (+0.6 ms)
2026-07-02 09:47:41,760 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.427411] moveTile ramp check isBigRamp=False (+6.2 ms)
2026-07-02 09:47:41,761 - mazeUtils.moveTile - [moveTile.py:2121] - INFO - practicalVerticalMove: 0.15218683023244342 CM
2026-07-02 09:47:41,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.452380] moveTile finished by time control (+25.0 ms)
2026-07-02 09:47:41,785 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.453102] moveTile start final forward adjustment (+25.7 ms)
2026-07-02 09:47:41,813 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.480420] moveTile finished final forward adjustment (+27.3 ms)
2026-07-02 09:47:41,982 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.NORTH, Angle: 0, Distance: 103.60424860154154 cm
2026-07-02 09:47:41,985 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.EAST, Angle: 270, Distance: 105.56257461682223 cm
2026-07-02 09:47:41,987 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.SOUTH, Angle: 180, Distance: 140.6565310866352 cm
2026-07-02 09:47:41,989 - mazeUtils.moveTile - [moveTile.py:570] - DEBUG - Direction: absDirection.WEST, Angle: 90, Distance: 17.700000762939453 cm
2026-07-02 09:47:41,989 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.657182] moveTile updated map and detected walls (+176.8 ms)
2026-07-02 09:47:41,993 - mazeUtils.moveTile - [moveTile.py:2680] - INFO - Tile color detection, decided tile type: E
2026-07-02 09:47:41,994 - mazeUtils.moveTile - [moveTile.py:90] - DEBUG - [295.661909] moveTile finished (+181.5 ms)
2026-07-02 09:47:42,035 - mazeUtils.moveTile - [moveTile.py:2719] - INFO - (None, 4)
2026-07-02 09:47:42,074 - __main__ - [main.py:188] - INFO - Current position: (20, 20, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| @   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 09:47:42,076 - __main__ - [main.py:192] - INFO - Robot now at the starting position, Congratulations!
2026-07-02 09:47:52,281 - __main__ - [main.py:202] - INFO - Current position: (20, 20, 0), front direction: absDirection.NORTH
Layer 0 (altitude=0.0cm, offset=(0.0cm, 0.0cm)):
Known map area: x=20..26, y=17..24
+---+---+---+---+   +   +   +
| E   E   E   V | U   U   U  
+   +   +---+   +   +   +   +
  B | E   E | E | U   U   U  
+   +   +---+   +   +   +   +
| E | L | E | E | U   U   U  
+   +   +   +   +   +   +   +
| @   E   E   E | U   U   U  
+   +---+---+   +---+---+---+
| E | E   E   R | E   E   E |
+   +   +---+   +   +---+   +
| E | E   E   E | E   L | V |
+   +   +---+   +   +   +   +
| V | R   E   B | E   E | B  
+   +   +---+---+   +---+   +
| E   E   E   E   E   E   E |
+---+---+---+---+---+---+---+
2026-07-02 10:28:03,412 - mazeUtils.device.stm - [stm.py:134] - ERROR - Timeout while searching valid frame: elapsed=1699.374s timeout=0.500s seq=202 buffered=16B dropped=0B tail=00 ca 00 00 ff ce c0 c0 5b 79 8a 8a 8b 2f 80 02
2026-07-02 10:28:03,414 - mazeUtils.device.stm - [stm.py:709] - ERROR - update failed: requestSensorValues returned None