diff --git a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp index 597e6ba..02cfe9d 100755 --- a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp +++ b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp @@ -596,9 +596,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) { parser.data.CliffCenter || parser.data.CliffRight) { std::cout << "Safety condition triggered!" << std::endl; // Debug print *pointerToMessage = "estop"; - safetyActive = true; forward(-100); // reverse the robot - safetyActive = false; } std::this_thread::sleep_for(std::chrono::milliseconds(static_cast(100))); } diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp index 073ebd5..aa0c5aa 100644 --- a/src/C++/Driver/src/main.cpp +++ b/src/C++/Driver/src/main.cpp @@ -51,10 +51,6 @@ std::string readMQTT() void parseMQTT(std::string message) { - if(robot.safetyActive){ - std::cout << "Safety mode active. Ignoring command: " << message << std::endl; - return; - } if (message == "up") { robot.forward(1024);