Rover not stopping when obstacle is less than 15cm

[vinayrnair]

At the moment, the code is written in a way that object detection tolerance is 15 cm. But somehow the rover does not stop and bangs into objects.

Also, if we keep a hand in front continuously, then the code detects 15 cm and then stops, reverses and does all other manoeuvres as expected.
Potential solutions:

• code needs to be faster (dont know how to do that!)
• detection distance to be longer than 15 cm. Say 20 cm...
• averaging of distance is currently based on 5 readings. Maybe remove this section to not take average or just take average of 2 readings