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Dependencies: QEI2 chair_BNO055 PID Watchdog VL53L1X_Filter ros_lib_kinetic
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 |
--- 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;