{"action":"created","issue":{"url":"https://api.github.com/repos/Pitt-RAS/micromouse/issues/27","repository_url":"https://api.github.com/repos/Pitt-RAS/micromouse","labels_url":"https://api.github.com/repos/Pitt-RAS/micromouse/issues/27/labels{/name}","comments_url":"https://api.github.com/repos/Pitt-RAS/micromouse/issues/27/comments","events_url":"https://api.github.com/repos/Pitt-RAS/micromouse/issues/27/events","html_url":"https://github.com/Pitt-RAS/micromouse/issues/27","id":139636417,"number":27,"title":"Improve isWall()","user":{"login":"xaviertorgerson","id":7890102,"avatar_url":"https://avatars.githubusercontent.com/u/7890102?v=3","gravatar_id":"","url":"https://api.github.com/users/xaviertorgerson","html_url":"https://github.com/xaviertorgerson","followers_url":"https://api.github.com/users/xaviertorgerson/followers","following_url":"https://api.github.com/users/xaviertorgerson/following{/other_user}","gists_url":"https://api.github.com/users/xaviertorgerson/gists{/gist_id}","starred_url":"https://api.github.com/users/xaviertorgerson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xaviertorgerson/subscriptions","organizations_url":"https://api.github.com/users/xaviertorgerson/orgs","repos_url":"https://api.github.com/users/xaviertorgerson/repos","events_url":"https://api.github.com/users/xaviertorgerson/events{/privacy}","received_events_url":"https://api.github.com/users/xaviertorgerson/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-03-09T16:54:44Z","updated_at":"2016-03-09T17:28:27Z","closed_at":null,"body":"The current isWall() uses a Schmidt Trigger to determine if there is a wall there that can be followed.  This system is very good for driving straight between two walls.  The problem is when one wall falls out sometimes it will take a second to trigger the Schmidt Trigger which means it will continue to follow the wall that fell out for a few moments.  After tending towards the wall that just fell out for a few seconds the trigger realizes there is no wall there, but because it has moved away from the actual wall the Schmidt Trigger is often set off on the opposite side.  The wall and the dropped away wall both end up crossing the Schmidt threshold at about the same time so it's 50/50 which one it follows."},"comment":{"url":"https://api.github.com/repos/Pitt-RAS/micromouse/issues/comments/194413794","html_url":"https://github.com/Pitt-RAS/micromouse/issues/27#issuecomment-194413794","issue_url":"https://api.github.com/repos/Pitt-RAS/micromouse/issues/27","id":194413794,"user":{"login":"ryanpitt","id":8763506,"avatar_url":"https://avatars.githubusercontent.com/u/8763506?v=3","gravatar_id":"","url":"https://api.github.com/users/ryanpitt","html_url":"https://github.com/ryanpitt","followers_url":"https://api.github.com/users/ryanpitt/followers","following_url":"https://api.github.com/users/ryanpitt/following{/other_user}","gists_url":"https://api.github.com/users/ryanpitt/gists{/gist_id}","starred_url":"https://api.github.com/users/ryanpitt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryanpitt/subscriptions","organizations_url":"https://api.github.com/users/ryanpitt/orgs","repos_url":"https://api.github.com/users/ryanpitt/repos","events_url":"https://api.github.com/users/ryanpitt/events{/privacy}","received_events_url":"https://api.github.com/users/ryanpitt/received_events","type":"User","site_admin":false},"created_at":"2016-03-09T17:28:27Z","updated_at":"2016-03-09T17:28:27Z","body":"Partial solution is to ignore range sensor error while we're near the center of the cell, which prevents us from taking readings at wall edges. I tried implementing that, and it _did_ help after some adjusting. But it seems like the generated error for one wall isn't working properly, even for a one-wall-only test."}}