From bd65fc08e39bfd63a9da3cd70883fee811982756 Mon Sep 17 00:00:00 2001
From: dd060606 <dd06.developpement@gmail.com>
Date: Thu, 8 May 2025 19:17:20 +0200
Subject: [PATCH] =?UTF-8?q?Ajout=20d'une=20v=C3=A9rification=20des=20obsta?=
 =?UTF-8?q?cles=20uniquement=20lorsque=20le=20robot=20n'est=20pas=20en=20r?=
 =?UTF-8?q?otation?=
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---
 src/main.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/main.cpp b/src/main.cpp
index 63d4075..c53ba60 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -137,6 +137,12 @@ void detectObstacles()
   {
     lastObstacleCheckTime = now;
 
+    // Si le robot tourne sur lui-même, on ne vérifie pas les obstacles
+    if (lastDirection == RIGHT || lastDirection == LEFT)
+    {
+      return;
+    }
+
     long distance = readDistanceCM();
 
     if (distance > 0 && distance < obstacleThresholdCM)