ir_count+=1
else:
self.get_dist_right()
- ir_count+=1
+ ir_count=0
if sonar_count == 0:
self.get_dist_forward_left()
- sonar_count=0
+ sonar_count+=1
elif sonar_count == 1:
self.get_dist_backward()
sonar_count+=1
def get_dist_forward_left(self):
if self.pub_range_fwd_left.get_num_connections() > 0:
dist = self.read_dist_srf(0x15)
- self.send_range(self.pub_range_fwd, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+ self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
self.start_dist_srf(0x5) # get next value
def get_dist_backward(self):
def get_dist_forward_right(self):
if self.pub_range_fwd_right.get_num_connections() > 0:
dist = self.read_dist_srf(0x19)
- self.send_range(self.pub_range_fwd, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
- self.start_dist_srf(0x9) # get next value
+ self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+ self.start_dist_srf(0xb) # get next value
def led_stripe_received(self, msg):
for led in msg.leds: