- dist = self.get_dist_srf(0x7)
- self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 60)
+ dist = self.read_dist_srf(0x17)
+ self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
+ self.start_dist_srf(0x7) # get next value