From 6fe28f997a342bd9915601e60f230e13e114f1e8 Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Tue, 7 Jan 2025 12:51:24 +0100
Subject: [PATCH] edited kobuki speedvalue for safety

---
 src/C++/Driver/src/KobukiDriver/CKobuki.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
index e2e1b39..0aafb49 100755
--- a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
+++ b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
@@ -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)));