From d85fcc25b06f1061286f61ab0103935a9d7b1856 Mon Sep 17 00:00:00 2001
From: "Simmel, Patrick" <patrick.simmel@stud.th-deg.de>
Date: Sun, 20 Mar 2022 18:28:46 +0100
Subject: [PATCH] changed stuff
---
tb3_challenge2.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/tb3_challenge2.py b/tb3_challenge2.py
index c22485a..a749a22 100644
--- a/tb3_challenge2.py
+++ b/tb3_challenge2.py
@@ -28,7 +28,7 @@ class Tb3(Node):
self.lin_vel_percent = 0
self.safe_distance = 0.4
self.drive_allowed = True
- self.turn_allowed = False
+ self.turn_allowed = True
def vel(self, lin_vel_percent, ang_vel_percent=0):
""" publishes linear and angular velocities in percent
@@ -52,13 +52,13 @@ class Tb3(Node):
if msg.ranges[0] > self.safe_distance:
self.vel(80, 0)
else:
- if msg.intensities[0] == 2.0 and not self.turn_allowed:
+ if msg.intensities[0] == 2.0 and self.turn_allowed:
self.vel(0, 0)
print("Red wall found! \nTurning...")
self.vel(0, 85)
sleep(1)
self.vel(0, 0)
- self.turn_allowed = True
+ self.turn_allowed = False
pass
elif msg.intensities[0] != 2.0:
print("Wall found!")
--
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