northern-bites/nbites — pull request #334 by bmende (2012-06-15 03:15:34+00:00)
Title: Obstacle Avoidance

This pull request should now make the python functions shouldAvoidObstacleLeft() and shouldAvoidObstacleRight() and shouldAvoidObstacle() work! In vision, there is now a new loop, the aptly named obstacle loop, which does the data collection. It fills the VisualObstacle object with the appropriate data, namely is there an obstacle on the left or the right, which then gets passed to python. In python, the shouldAvoidObstacleLeft/Right methods first check the foot bumpers, because duh. Then they check VisualObstacle. If vision is not certain enough, then we check the sonars. this has seemed to work quite well so far.