Sheila Pham / wheelchaircontrol

Added variable Test SideToF sensore

Dependencies:   QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic

Files at this revision

API Documentation at this revision

Revision 36:24c12658bef1, committed 2019-07-02

Comitter:
sepham
Date:
Tue Jul 02 16:50:53 2019 +0000
Parent:
35:a3585c52723e
Commit message:
comment some stuff

Changed in this revision

wheelchair.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r a3585c52723e -r 24c12658bef1 wheelchair.cpp
--- 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;