Smikkelbakje/J2S1-Kobuki
1
0
Fork 0
mirror of https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git synced 2025-08-03 11:55:00 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

edited kobuki speedvalue for safety

Browse Source
This commit is contained in:
Sam Hos
2025-01-07 12:51:24 +01:00
parent 1bf9ebddab
commit 6fe28f997a
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/C++/Driver/src/KobukiDriver/CKobuki.cpp
View File

@@ -576,7 +576,7 @@ void CKobuki::robotSafety(std::string *pointerToMessage) {
parser.data.CliffCenter || parser.data.CliffRight) {
std::cout << "Safety condition triggered!" << std::endl; // Debug print
*pointerToMessage = "estop";
forward(-100); // reverse the robot
forward(-300); // reverse the robot
}
std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));
}
@@ -590,7 +590,7 @@ void CKobuki::robotSafety() {
parser.data.BumperRight || parser.data.CliffLeft ||
parser.data.CliffCenter || parser.data.CliffRight) {
std::cout << "Safety condition triggered!" << std::endl; // Debug print
forward(-100); // reverse the robot
forward(-300); // reverse the robot
}
std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(100)));