feat: fixed inverse angle

2020-05-18 20:15:53 +02:00
parent c6b33683b7
commit 19f48c9478
1 changed files with 1 additions and 1 deletions
--- a/control/walle.py
+++ b/control/walle.py
@@ -49,7 +49,7 @@ class WallE:
                velocity_l = cos_angle * force
        elif cos_angle < 0 and sin_angle > 0:
            if abs(cos_angle) < sin_angle:
-                velocity_r = 1 - sin_angle * force
+                velocity_r = (1 - sin_angle) * force
                velocity_l = sin_angle * force
            elif cos_angle > sin_angle:
                velocity_r = sin_angle * force