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- if (posX < 0.5 && yaw < pi/2 && !bumperRight && !bumperLeft && !bumperCenter) {
- angular = 0.0;
- linear = 0.2;
- } else if (posX > 0.5 && yaw > pi/2 && !bumperRight && !bumperLeft && !bumperCenter) {
- angular = 0.0;
- linear = 0.2;
- } else {
- angular = 0.0;
- linear = 0.0;
- }
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