Fixing drive to point unreachable issue.

project-capo · Jul 6, 2015 · 200ad6c · 200ad6c
1 parent eaacadd
commit 200ad6c
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/src/amberdriver/drive_to_point/drive_to_point.py b/src/amberdriver/drive_to_point/drive_to_point.py
@@ -7,6 +7,7 @@
 import traceback
 import os
 from ambercommon.common import runtime
+
 from amberclient.common.listener import Listener
 
 from amberdriver.drive_support import drive_support_logic
@@ -164,7 +165,7 @@ def __drive_to(self, target, next_targets_timestamp):
         while not DriveToPoint.target_reached(location, target) and \
                 self.__driving_allowed and self.__is_active and \
                 not self.__next_targets_timestamp > next_targets_timestamp and \
-                                start_time + MAXIMUM_TIME_DRIVE_TO < time.time():
+                                start_time + MAXIMUM_TIME_DRIVE_TO > time.time():
             if coming_out_from_local_minimum:
                 if temporary_target is not None and not DriveToPoint.target_reached(location, temporary_target):
                     drive_angle, drive_distance = DriveToPoint.__compute_drive_angle_distance(location,
@@ -192,7 +193,7 @@ def __drive_to(self, target, next_targets_timestamp):
             time.sleep(0.07)
             location = self.__locator.get_location()
 
-        if start_time + MAXIMUM_TIME_DRIVE_TO > time.time():
+        if start_time + MAXIMUM_TIME_DRIVE_TO < time.time():
             self.__logger.warn('Target %s not reachable', str(target))
         else:
             self.__logger.info('Target %s reached', str(target))