def detectyellow():
 stop()
 picture = takePicture()
 show(picture)
 for pixel in getPixels(picture):
  r, g, b = getRGB(pixel)
  if (r >= 150 and g >= 150 and b <=110):
   try:
    while(getObstacle('center') < 6400):
     forward(1,0.2)
     wait(1)
    celebrate()
    return 2
   except:
    print("The obstacle sensor likely overloaded")
  else:
   return 1