Smikkelbakje/J2S1-Kobuki
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fix safety

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This commit is contained in:
Sam Hos
2024-11-04 14:42:53 +01:00
parent 9cb5468885
commit 206bf965e5
2 changed files with 4 additions and 1 deletions
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2
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
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@@ -787,7 +787,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) {
if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight ||
parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) { parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
std::cout << "Safety condition triggered!" << std::endl; // Debug print std::cout << "Safety condition triggered!" << std::endl; // Debug print
*pointerToMessage = "stop"; *pointerToMessage = "estop";
forward(-100); // reverse the robot forward(-100); // reverse the robot
} }

3
src/C++/Driver/src/main.cpp
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@@ -63,6 +63,9 @@ void parseMQTT(std::string message){
robot.sendNullMessage(); robot.sendNullMessage();
robot.sendNullMessage(); robot.sendNullMessage();
} }
else if (message == "estop"){
robot.forward(-500);
}
else{ else{
std::cout << "Invalid command" << std::endl; std::cout << "Invalid command" << std::endl;
} }