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2022-10-10 14:25:03 +02:00
parent 8a2156a5d9
commit 5e7509d2b6
1 changed files with 1 additions and 1 deletions
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@ -175,7 +175,7 @@ def drive_towards_middle(est_pose, arlo):
        arlo.stop()
    else:
        arlo.go_diff(POWER, POWER, 1, 0)
-        sleep((abs(180 - turn_angle) * TURN_T * CLOCKWISE_OFFSET)/1000)
+        sleep((abs(turn_angle - 180) * TURN_T * CLOCKWISE_OFFSET)/1000)
        arlo.stop()

    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)