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Commit d2be825e authored by Charles Javerliat's avatar Charles Javerliat Committed by Charles JAVERLIAT
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coordinator/nodes/match.py
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...@@ -147,6 +147,8 @@ class CoordinatorNode(): ...@@ -147,6 +147,8 @@ class CoordinatorNode():
while theta_accum < abs(theta): while theta_accum < abs(theta):
dTheta = 0
if theta > 0: if theta > 0:
if self.theta < last_theta: if self.theta < last_theta:
dTheta = abs(2 * pi + self.theta - last_theta) dTheta = abs(2 * pi + self.theta - last_theta)
...@@ -159,6 +161,7 @@ class CoordinatorNode(): ...@@ -159,6 +161,7 @@ class CoordinatorNode():
dTheta = abs(self.theta - last_theta) dTheta = abs(self.theta - last_theta)
theta_accum = theta_accum + dTheta theta_accum = theta_accum + dTheta
if abs(theta_accum - abs(theta)) <= radians(3): if abs(theta_accum - abs(theta)) <= radians(3):
self.set_speed(0, 0.25 if theta > 0 else -0.25) self.set_speed(0, 0.25 if theta > 0 else -0.25)
else: else:
......
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