The forward, left, and right obstacle distances could each have timestamps associated with them based upon the timestamps of the sonar sensors that contributed to them. The relevant code changes would be on ObstacleDetector::obstacle_dis()t and MoveBasic::moveLinear(). This would lead to smoother control of steering based on side distances.
The forward, left, and right obstacle distances could each have timestamps associated with them based upon the timestamps of the sonar sensors that contributed to them. The relevant code changes would be on
ObstacleDetector::obstacle_dis()tandMoveBasic::moveLinear(). This would lead to smoother control of steering based on side distances.