diff --git a/Bilder/algorithmus.jpg b/Bilder/algorithmus.jpg index 5cbef644a010f1b0bcfbe36b19abcd791e30cab3..0edc9970b6aa00f94ffe5fcbe93efef515239365 100644 Binary files a/Bilder/algorithmus.jpg and b/Bilder/algorithmus.jpg differ diff --git a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py index 8a73ff8036d5c11512eb0f2258c4d294645e6903..50418593def2d21f236bdd88ba9f745b700284b5 100644 --- a/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py +++ b/Code/ROS_Nodes_fuer_5_Sensoren/line_follower_pkg/line_follower_pkg/line_follower_node.py @@ -75,6 +75,16 @@ class LineFollowerNode(Node): twist.linear.x = 0.1 twist.angular.z = 0.0 self.get_logger().info('Geradeaus') + elif self.line_sensor_data[0] == 1: + # Voll nach links + twist.linear.x = 0.05 + twist.angular.z = 0.8 + self.get_logger().info('Hart Links') + elif self.line_sensor_data[4] == 1: + # Voll nach rechts + twist.linear.x = 0.05 + twist.angular.z = -0.8 + self.get_logger().info('Hart Rechts') elif self.line_sensor_data[1] == 1: # Nach links twist.linear.x = 0.05 @@ -90,16 +100,6 @@ class LineFollowerNode(Node): twist.linear.x = 0.1 twist.angular.z = 0.0 self.get_logger().info('Geradeaus') - elif self.line_sensor_data[0] == 1: - # Voll nach links - twist.linear.x = 0.05 - twist.angular.z = 0.8 - self.get_logger().info('Hart Links') - elif self.line_sensor_data[4] == 1: - # Voll nach rechts - twist.linear.x = 0.05 - twist.angular.z = -0.8 - self.get_logger().info('Hart Rechts') else: # Linie verloren self.get_logger().warn('Line verloren, fahre geradeaus')