#
# Figure out if we are on the outer edge
# Takes into account Markers instead of $sense_for
#
Assert ant.dir==0
# edge 0,1 have Ahead
  Sense Ahead @edge01 @edge2345 $sense_for
edge2345:
  Turn Right PASS
  # edge 2,3 have Right
  Sense RightAhead @edge23 @edge45 $sense_for
edge23:
  # edge 2 has ahead
  Sense Ahead @is_edge2 @is_edge3 $sense_for
edge45:
  Turn Right PASS
  # edge 4 has Right  
  Sense RightAhead @is_edge4 @edge5mid $sense_for
edge5mid:
  Turn Right PASS
  # edge 5 has right
  Sense RightAhead @is_edge5 @is_middle $sense_for
edge01:
  # edge0 has no right
  Sense RightAhead @is_edge1 @is_edge0 $sense_for

is_edge0:
  Type 1
  Mark $M_EDGE PASS
  # orient outward
  #Print (ant.type, ant.dir)
  Turn Left PASS
  #Print (ant.type, ant.dir)
  Move PASS PASS
  Goto @edge_done
is_edge1:
  Type 2
  Mark $M_EDGE PASS
  #Print (ant.type, ant.dir)
  # orient outward
  Turn Right PASS
  Move PASS PASS
  Goto @edge_done
is_edge2:
  Type 3
  Mark $M_EDGE PASS
  #Print (ant.type, ant.dir)
  # already oriented outward-ish
  Move PASS PASS
  Goto @edge_done
is_edge3:
  Type 4
  Mark $M_EDGE PASS
  #Print (ant.type, ant.dir)
  # orient outward
  Turn Right PASS
  Move PASS PASS
  Goto @edge_done
is_edge4:
  Type 5
  Mark $M_EDGE PASS
  #Print (ant.type, ant.dir)
  # orient outward
  Turn Right PASS
  Turn Right PASS
  Move PASS PASS
  Goto @edge_done
is_edge5:
  Type 6
  Mark $M_EDGE PASS
  #Print (ant.type, ant.dir)
  # orient outward-ish
  Turn Right PASS
  Sleep 15
  Move PASS PASS
  Goto @edge_done
is_middle:
  Turn Left PASS
  Turn Left PASS
  Turn Left PASS
  Assert ant.dir==0
  Sleep 34
  Goto $middle_ant
edge_done:
 Goto $edge_ant