Revision 6ee555a3
Changed scout constants to refresh faster. Also retuned linefollowing for faster refresh rate.
| scout/libscout/src/behaviors/maze_solve.cpp | ||
|---|---|---|
| 43 | 43 |
#define DOWN 2 |
| 44 | 44 |
#define LEFT 3 |
| 45 | 45 |
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| 46 |
Duration sonar_update_time(1.0);
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|
| 46 |
Duration sonar_update_time(1.5);
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| 47 | 47 |
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| 48 | 48 |
void maze_solve::run(){
|
| 49 | 49 |
|
| ... | ... | |
| 167 | 167 |
dir = LEFT; |
| 168 | 168 |
} |
| 169 | 169 |
} |
| 170 |
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| 171 |
ROS_INFO("DEAD END FOUND, TURNING BACK.");
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| 170 | 172 |
// we have exhausted all the options. This path is clearly a |
| 171 | 173 |
// dead end. go back to where we come from and return false. |
| 172 | 174 |
turn_from_to(dir, initial_dir); |
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