From: svnhieber <svnhieber@f8795833-4959-0410-8ae9-8bcb0cfab428>
Date: Wed, 1 Dec 2010 21:09:15 +0000 (+0000)
Subject: calc orientation with measured angle, not with desired turn angle
X-Git-Url: https://git.rohieb.name/bachelor-thesis/roomba_tests.git/commitdiff_plain/37ee49ff8b13fe09d2dc171d608fdaf36c066e6d?ds=sidebyside

calc orientation with measured angle, not with desired turn angle

git-svn-id: https://svn.itm.uni-luebeck.de/wisebed/wiselib/trunk/pc_apps/roomba_tests@3658 f8795833-4959-0410-8ae9-8bcb0cfab428
---

diff --git a/main.cc b/main.cc
index 13c5403..2b1a128 100644
--- 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;
 
   }
 }