calc orientation with measured angle, not with desired turn angle

[bachelor-thesis/roomba_tests.git] / main.cc

diff --git a/main.cc b/main.cc
index 13c5403..2b1a128 100644 (file)
--- a/main.cc
+++ b/main.cc
@@ -166,7 +166,7 @@ void turn(Roomba& roomba, ControlledMotion& ctrl_motion) {
       << " batt_current=" << roomba().current << endl;
 
     // new orientation
-    cur_angle = (cur_angle + turn_angle) % 360;
+    cur_angle = (cur_angle + measured_angle) % 360;
 
   }
 }