Update wheeledbase.py

clubrobot · Jun 1, 2024 · 95e61c4 · 95e61c4
1 parent 78e010f
commit 95e61c4
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/raspberrypi/daughter_cards/wheeledbase.py b/raspberrypi/daughter_cards/wheeledbase.py
@@ -342,6 +342,8 @@ def goto_stop(self, x, y,sensors, theta=None, direction=None, finalangle=None, l
 
         # Get the setpoint orientation
         if theta is not None:
+            if(theta<0):
+                theta+=2*math.pi
             rPos=self.get_position()
             radiusRobot=370
             ang=rPos[2]%(2*math.pi)