Back/Forward train with color sensor that works?

Hello! I'm not asking for suggestion. I'm proposing a possible solution to the well known color sensor unreliability. The code below is for pybricks and implements a simple concept: you want to avoid false readings, but if you have a relevant sequential number of readings of the same color, then you're on a purposedly placed color tag. Size of the colored tag is 2x8 stud at speed 35% and read delay of 100ms for a light single car trolley. Adjusting those values will define the length of the...