X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=fcb20be43f2a8fd1795b19a66590a7c79ea70873;hp=bbda8488780341b9167365e8b77c5cad3477cc18;hb=d5421adc6fb7c85852a3b90b993742459ce03466;hpb=5b40ea26ccc4ab0276bd7dd37ab8cb8274299fe8

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index bbda848..fcb20be 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -96,11 +96,11 @@ class MoveBase:
 				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
@@ -312,7 +312,7 @@ class MoveBase:
 	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):
@@ -324,7 +324,7 @@ class MoveBase:
 	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.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
 			self.start_dist_srf(0x9) # get next value
 	
 	def led_stripe_received(self, msg):