fix turn ?

coordinator/nodes/match.py

@@ -147,8 +147,16 @@ class CoordinatorNode():
 
         while theta_accum < abs(theta):
 
-            dTheta = ((360 - abs(self.theta - last_theta)) if theta <
-                      0 else abs(self.theta - last_theta)) % (2 * pi)
+            if theta > 0:
+                if self.theta < last_theta:
+                    dTheta = abs(2 * pi + self.theta - last_theta)
+                else:
+                    dTheta = abs(self.theta - last_theta)
+            else:
+                if self.theta > last_theta:
+                    dTheta = abs(2 * pi - self.theta - last_theta)
+                else:
+                    dTheta = abs(self.theta - last_theta)
 
             theta_accum = theta_accum + dTheta
             if abs(theta_accum - abs(theta)) <= radians(3):
@@ -184,8 +192,6 @@ class CoordinatorNode():
         self.brake_for_n_seconds(5)
         self.turn(radians(-45))
         self.brake_for_n_seconds(5)
-        self.turn(radians(0))
-        self.brake_for_n_seconds(5)
         self.turn(radians(180))
         # self.move(0.4, forward=False)
         # self.turn(radians(-90))