In this video I have added an array with contains the last 3 turn directions. When backing up or standing still, if a repeated pattern happens (left, right, left, wanting to go right for example) it will overide and go in the opposite direction. this stops it getting caught in loops when it tight corners.
next up is to make the sequence in which it looks around be dependant on the current direction the robot is turning to look in the opposite direction first giving the turning more time to influence direction before data is captured on the turning side
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