Added variable Test SideToF sensore
Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
Diff: wheelchair.cpp
- Revision:
- 36:24c12658bef1
- Parent:
- 35:a3585c52723e
--- a/wheelchair.cpp Tue Jul 02 16:46:40 2019 +0000 +++ b/wheelchair.cpp Tue Jul 02 16:50:53 2019 +0000 @@ -147,11 +147,11 @@ //Check whether safe to keep turnin, user control <-- make sure //currAngularVelocity is in correct units. Know the exact moment you can //stop the chair going at a certain speed before its too late - else if((currAngularVelocity * currAngularVelocity > 2 * - MAX_ANGULAR_DECELERATION * angle) && (sensor3 <= angle || - sensor6 <= angle)) { - sideSafety = 1; //Not safe to turn - } + //else if((currAngularVelocity * currAngularVelocity > 2 * + // MAX_ANGULAR_DECELERATION * angle) && (sensor3 <= angle || + // sensor6 <= angle)) { + // sideSafety = 1; //Not safe to turn + //} //Safe to continue turning else { sideSafety = 0;