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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;
}
}
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