X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=bffabce5d178bb9fec2954587565c3363fa2fea3;hp=2969d613c7f11a06e81ac6efe17d740f059cf80f;hb=eec61b85016f4b8acc989b2aecf5c38f838cb850;hpb=db645690cb11053418bc17861d335966ba3c4682

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 2969d61..bffabce 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -58,7 +58,6 @@ class WTBase:
 		sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
 		reset_val = self.get_reset()
 		rospy.loginfo("Reset Status: 0x%x" % reset_val)
-		ir_count = 0
 		sonar_count = 0
 		i2c_write_reg(0x50, 0xA4, struct.pack("B", 1)) # enable Watchdog
 		while not rospy.is_shutdown():
@@ -69,13 +68,6 @@ class WTBase:
 			self.get_odom()
 			self.get_power()
 
-			if ir_count == 0:
-				self.get_dist_left()
-				ir_count+=1
-			else:
-				self.get_dist_right()
-				ir_count=0
-
 			if sonar_count == 0:
 				self.get_dist_forward_left()
 				self.update_dist_backward()