From 0621d02fff2c75a3cd81f52c2c61d15aeba5fa7b Mon Sep 17 00:00:00 2001 From: NikolajDanger Date: Mon, 31 Oct 2022 14:49:29 +0100 Subject: [PATCH] :sparkles: --- rally2.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rally2.py b/rally2.py index 38e85e9..6eb6758 100644 --- a/rally2.py +++ b/rally2.py @@ -254,7 +254,7 @@ def turn_90_degrees(noah, est_pose, particles): current_position = np.array([est_pose.x, est_pose.y]) relative_pos = middle - current_position angle = np.arctan(relative_pos[1]/relative_pos[0]) - relative_angle = np.mod(angle - p.theta(), 2.0*np.pi) + relative_angle = np.mod(angle - est_pose.theta(), 2.0*np.pi) clockwise = relative_angle > 180