From dc6b34d19cf0fb62353844e523f5bd2a6fa2efea Mon Sep 17 00:00:00 2001 From: Nathan Kellenicki Date: Mon, 15 Oct 2018 18:50:34 -0700 Subject: [PATCH] Stall detection in vernie roaming --- examples/vernie_roaming.js | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/examples/vernie_roaming.js b/examples/vernie_roaming.js index 576c07e..dd042f2 100644 --- a/examples/vernie_roaming.js +++ b/examples/vernie_roaming.js @@ -121,10 +121,12 @@ poweredUP.on("discover", async (vernie) => { // Wait to discover Vernie }); setInterval(async () => { - if (vernie.current > 20 && mode === Modes.ROAMING) { // If we're roaming around and we detect an object in front of us, stop and scan + if (vernie.current > 20 && mode === Modes.ROAMING) { // If current spikes, we've likely stalled on something. Reverse and scan. mode = Modes.AVOIDING; - await vernie.setMotorSpeed("AB", -30, 1500); + await vernie.sleep(1000); + await vernie.setMotorSpeed("AB", -30, 1500); // Reverse + await vernie.sleep(1000); const { leftDistance, forwardDistance, rightDistance } = await scan(vernie);