wall gestion

1 files changed, 4 insertions, 1 deletions

diff --git a/robot/main.py b/robot/main.py
index 9d789f8..dadde2d 100644
--- a/robot/main.py
+++ b/robot/main.py
@@ -23,11 +23,12 @@ client = MQTTClient(MQTT_ClientID, MQTT_Broker, 1883)
 ev3 = EV3Brick()
 left_motor = Motor(Port.B)
 right_motor = Motor(Port.C)
-bob = DriveBase(left_motor, right_motor, wheel_diameter = 54, axle_track = 105)
+bob = DriveBase(left_motor, right_motor, wheel_diameter = 54, axle_track = 121)
 UltraSensor = UltrasonicSensor(Port.S4)
 get_tick_rate = 0.1
 send_tick_rate = 0.5
 sensitivity = 400
+safe_distance = 150
 ultraSend = [False]
 
 
@@ -58,6 +59,8 @@ def sendUltra() :
     dist = UltraSensor.distance()
     if (dist < sensitivity):
         publish(dist)
+    if (dist < safe_distance) :
+        bob.stop()
 
 
 # MQTT connection