From a0688535fe7624c7f89dd858bdf45c824d70a696 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlson <fredrikb@control.lth.se>
Date: Fri, 25 Sep 2015 11:23:34 +0200
Subject: [PATCH] update state_machine
---
state_machine.m | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/state_machine.m b/state_machine.m
index adac7e7..60da0b3 100644
--- a/state_machine.m
+++ b/state_machine.m
@@ -2,7 +2,7 @@ d2r = 180/pi;
th_az = 5; % Degrees
step_distance = 0.1; % meters
% sendPosition.moveRelativePosition('map', moveFront, moveLeft, rotateClockwise);
-
+th_dist = 0.78;
while(true)
@@ -18,8 +18,9 @@ while(true)
end
% The angle to the source is small enough, take a step forward
+ [there, ic] = get_distance(audio, th_dist);
- if ~there()
+ if ~there
sendPosition.moveRelativePosition('map', step_distance, 0, 0);
continue
end
--
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