fixed value in LogicController to allow values for obstacle detection

Author: jschlind411

src/abridge/src/abridge.cpp

@@ -163,7 +163,7 @@ void driveCommandHandler(const geometry_msgs::Twist::ConstPtr& message) {
 
   // Cap motor commands at 120. Experimentally determined that high values (tested 180 and 255) can cause 
   // the hardware to fail when the robot moves itself too violently.
-  int max_motor_cmd = 255;
+  int max_motor_cmd = 180;
 
   if (currentMode == 1)
   {

src/behaviours/src/LogicController.cpp

@@ -191,7 +191,7 @@ void LogicController::ProcessData() {
   if (processState == PROCCESS_STATE_SEARCHING) {
     prioritizedControllers = {
       PrioritizedController{0, (Controller*)(&searchController)},
-      PrioritizedController{-1, (Controller*)(&obstacleController)},
+      PrioritizedController{10, (Controller*)(&obstacleController)},
       PrioritizedController{15, (Controller*)(&pickUpController)},
       PrioritizedController{5, (Controller*)(&range_controller)},
       PrioritizedController{-1, (Controller*)(&dropOffController)}

src/behaviours/src/SearchController.cpp

@@ -39,7 +39,8 @@ Result SearchController::DoWork() {
     }
     return result;
   }
-  else if (attemptCount >= 5 || attemptCount == 0) {
+  else if (attemptCount >= 5 || attemptCount == 0) 
+  {
     attemptCount = 1;
 
 
@@ -66,7 +67,7 @@ Result SearchController::DoWork() {
     result.wpts.waypoints.insert(result.wpts.waypoints.begin(), searchLocation);
 
     return result;
-  //}
+  }
 
 }