Develop #58
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…Pickup) - Physical locations TBD
Feature/autoinit
…2024 into feature/autonomus
Feature/autonomus
Portnord
commented
May 28, 2024
| errorR = errorR - (2.0 * math.pi) | ||
| elif errorR < -math.pi / 2.0: | ||
| errorR = errorR + (2.0 * math.pi) | ||
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Should adjust the rotation error to lie in (-pi, pi] so we don't go around the long way. E.g. an error of 200 degrees should be converted to -20 degrees to make the smallest adjustment possible. This is clipping at 90 degrees (pi/2).
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🛠 Proposed Changes:
Move to specific field pose depending on button selections.
📝 Details:
🔗 Related Issue(s):