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Stall detection in vernie roaming

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This commit is contained in:
Nathan Kellenicki 2018-10-15 18:50:34 -07:00
parent d8689b2a46
commit dc6b34d19c
1 changed files with 4 additions and 2 deletions
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6
examples/vernie_roaming.js
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@ -121,10 +121,12 @@ poweredUP.on("discover", async (vernie) => { // Wait to discover Vernie
}); });
setInterval(async () => { 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; 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); const { leftDistance, forwardDistance, rightDistance } = await scan(vernie);