Wall following logic Issue | calculate_tof_error_left()

[ramithuh]

Let's say the robot is close to the wall (both tofs less than offset distance);

so, regardless of the closeness of the robot, the offset_distance will be in the error term..
doesn't the error term be a function of how close the robot is to the wall?

code : 287 line : https://github.com/ramithuh/LICRAWMv1/blob/master/source-code/LICRAWM%201.5.4%20-%20Software/libraries/LICRAWM-functions.h