import time
poppy.m1.moving_speed=10

def tooniKontroll(punkt, toon):
    return punkt[toon]>(1.3*(punkt[0]*1.0+punkt[1]*1.0+punkt[2]*1.0)/3.0)

def kesk(img, toon):
  tooniga=[]
  for veerg in range(640):
      if tooniKontroll(img[220][veerg], toon): tooniga.append(veerg)
  return sum(tooniga)/len(tooniga)

for i in range(40):
  img = poppy.camera.frame
  k=kesk(img, 1)
  print(k)
  if k:  poppy.m1.goal_position=(300-k)/10
  time.sleep(1)