Diff: state_control.h

Revision:

20:7dcdadbd7bc0

Parent:

19:65fecaa2a387

Child:

23:4c743746533c

--- a/state_control.h	Thu Oct 28 00:28:29 2021 +0000
+++ b/state_control.h	Thu Oct 28 21:41:03 2021 +0000
@@ -80,24 +80,29 @@
     }
 
 void fault_check(void){
-     _fault = false; 
+        _fault = false; 
         fault_type = CLEAR;
     batteryVoltage = battInput * 3.3 * battDividerScalar;
     avgCellVoltage = batteryVoltage / 3.0;
+    
     if (left_distance_sensor.read() < (0.700/3.3) && right_distance_sensor.read()*3.3 < (0.700/3.3))
         {
           _fault = true;
           fault_type = OFF_TRACK;
         }
+        
+        
     if (avgCellVoltage <= 3.4){
          _fault = true;
          fault_type = LOW_VOLTAGE;
          }
          
-     if (abs(acc.getAccX() > 1.5)){
+         
+     if (abs(acc.getAccX() > 1.48)){ // was 1.5
              _fault = true;
              fault_type = COLLISION;
-             }        
+             }    
+                 
    
    /* else {                         //we should only set _fault to false when the user manually clears a fault w a button
         _fault = false;