Tuned longer distance moves. Seems pretty good.

facetracker.py

@@ -202,21 +202,29 @@ def stop():
 
 def left(distance):
     send_char('a')
-    if abs(distance) > 75:
+    if abs(distance) > 300:
         print('GO LEFT')
         return
+    elif abs(distance) > 50:
+        print('GO LEFT FOR {}s (divisior 175)'.format(1.0*abs(distance)/175.0))
+        time.sleep(1.0*abs(distance)/175.0)
+        stop()
     else:
-        print('GO LEFT FOR {}s'.format(1.0*abs(distance)/100.0))
+        print('GO LEFT FOR {}s (divisor 100)'.format(1.0*abs(distance)/100.0))
         time.sleep(1.0*abs(distance)/100.0)
         stop()
 
 def right(distance=None):
     send_char('d')
-    if abs(distance) > 75:
+    if abs(distance) > 300:
         print("GO RIGHT")
         return
+    elif abs(distance) > 50:
+        print('GO RIGHT FOR {}s (divisior 175)'.format(1.0*abs(distance)/175.0))
+        time.sleep(1.0*abs(distance)/175.0)
+        stop()
     else:
-        print('GO RIGHT FOR {}s'.format(1.0*abs(distance)/100.0))
+        print('GO RIGHT FOR {}s (divisor 100)'.format(1.0*abs(distance)/100.0))
         time.sleep(1.0*abs(distance)/100.0)
         stop()
 
@@ -248,18 +256,21 @@ if __name__ == "__main__":
         faces = findface(image)
         if faces == ():
             print("No face found.")
-            stop()
-            lastAction = "Stop"
             rawCapture.truncate(0)
-            if timeSinceDetected > time_before_scan and timeSinceDetected < time_after_scan and lastAction != "Scan":
-                lastAction = "Scan"
-                print("Beginning Scanning...")
-                right(1000) # 1000 is arbitrary
+            if timeSinceDetected > time_before_scan and timeSinceDetected < time_after_scan:
+                if lastAction != "Scan":
+                    lastAction = "Scan"
+                    print("Beginning Scanning...")
+                    right(1000.0) # 1000 is arbitrary
+                # Otherwise just keep doing what youre doing
             elif timeSinceDetected > time_after_scan:
                 lastAction = "Stop"
                 print("Stopping scanning...")
                 lastDetected = time.time()*1000.0
                 stop()
+            else:
+                lastAction = "Stop"
+                stop()
             continue
 
         lastDetected = time.time() * 1000.0