Revision 1200
Smart run around produces more of a wall-following behavior at
this point. Rangefinder readings are clearly not in cm. I have assumed that they
give the distance in mm but 50 mm too large. I don't think this is correct,
but the robot does not crash, so I left. The states do what they are
supposed and, for the most part, get triggered when they are supposed. The
forward state does not work (it just stops) if the speed is HALF_SPD rather
than FULL_SPD.
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