Diff: state_control.h

Revision:

25:8bd029d58251

Parent:

23:4c743746533c

Child:

26:54ce9f642477

--- a/state_control.h	Thu Nov 04 17:21:18 2021 +0000
+++ b/state_control.h	Sat Nov 06 16:31:02 2021 +0000
@@ -49,13 +49,9 @@
     disable_brakes();
     motor_enabled = true; 
     turn_led(GREEN); 
-    setpointLeft = 0.1;
-    setpointRight = 0.1;
     };
 void _wait(void){
      // release brakes, turn on steering system, do not start the motor
-    _fault =false; 
-    fault_type=CLEAR;
      // disable_brakes();
      disable_brakes(); 
     motor_enabled = false;
@@ -85,7 +81,7 @@
     batteryVoltage = battInput * 3.3 * battDividerScalar;
     avgCellVoltage = batteryVoltage / 3.0;
     
-    if (left_distance_sensor.read() < (0.600/3.3) && right_distance_sensor.read()*3.3 < (0.600/3.3))
+    if (left_distance_sensor.read()*1.2 < (0.380/3.3) && right_distance_sensor.read()*1.2 < (0.380/3.3))
         {
           _fault = true;
           fault_type = OFF_TRACK;