Patch search turnaround() call.

BCLab-UNM / SwarmathonIV-Cabrillo-Public

Swarmathon code repository for Cabrillo College

MIT License

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Patch search turnaround() call. #199

Closed darrenchurchill closed 5 years ago

darrenchurchill commented 5 years ago

It's necessary to ignore home tags and home corners when avoiding sonar obstacles using turnaround().

It's possible for the rover to come upon a sonar obstacle when it's near home, so it makes sense to prevent a HomeException from being raised during this turnaround() call.

Carter90 commented 5 years ago

Was able to eventually escape now.

I saw an obstacle!

I saw an obstacle!

I saw home!

I saw an obstacle!

I saw an obstacle!

I saw home!