logging and quick-fix for U5

zauberzeug · Jul 19, 2024 · 19de0d0 · 19de0d0
1 parent 40146e8
commit 19de0d0
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/field_friend/automations/navigation/navigation.py b/field_friend/automations/navigation/navigation.py
@@ -88,8 +88,12 @@ async def _drive_to_yaw(self, distance: float, yaw: float):
             await self.driver.wheels.drive(*self.driver._throttle(1, yaw))  # pylint: disable=protected-access
         try:
             while self.odometer.prediction.point.distance(start_position) < distance:
+                # FIXME: ggf. deadline erhöhen
                 if rosys.time() >= deadline:
-                    raise TimeoutError('Driving Timeout')
+                    self.log.error(
+                        f'Driving Timeout at startpoint: {start_position} with yaw: {yaw} and target point: {self.odometer.prediction.point}')
+                    break
+                    # raise TimeoutError('Driving Timeout')
                 await rosys.sleep(0.01)
         finally:
             await self.driver.wheels.stop()