changed stuff

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!")