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Ajout d'une vérification des obstacles uniquement lorsque le robot n'est pas en rotation

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dd060606
2025-05-08 19:17:20 +02:00
parent a289f4cb31
commit bd65fc08e3
1 changed files with 6 additions and 0 deletions
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6
src/main.cpp
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@@ -137,6 +137,12 @@ void detectObstacles()
{ {
lastObstacleCheckTime = now; lastObstacleCheckTime = now;
// Si le robot tourne sur lui-même, on ne vérifie pas les obstacles
if (lastDirection == RIGHT || lastDirection == LEFT)
{
return;
}
long distance = readDistanceCM(); long distance = readDistanceCM();
if (distance > 0 && distance < obstacleThresholdCM) if (distance > 0 && distance < obstacleThresholdCM)