private boolean lastSixSameDirectionTurn() {
		int size = this.prevDirections.size();
		if(size < 6) return false;
		Direction last = this.prevDirections.get(size - 1);
		if(last == Direction.AHEAD || last == Direction.BACK) return false;
		for(int preID = 1;preID < 6;preID++){
			if(this.prevDirections.get(size - 1 - preID) != last) return false;
		}

		//	displayPObs();

		return true;
	}