Re: [Playerstage-users] Turn exactly 90 degrees?

[JayF <joa...@gm...>]

I'm with the same doubt
I tried to change the code laserobstaclevoid and the closest I came was:
      // Modelo de movimentação do robo pelo ambiente
      std::cout << "minR: " << minR
                << "minL: " << minL
                << std::endl;

      double l = (1e5*minR)/500-100;
      double r = (1e5*minL)/500-100;

      if (l > 100)
        l = 100;
      if (r > 100)
        r = 100;

      newspeed = (r+l)/1e3;
      std::cout << "r: " << r
                << "l: " << l
                << std::endl;
  	    	
			newturnrate = (r-l);
	
			if (r>l)
				newturnrate = 90.0;
			if(r<l)
				newturnrate = -90.0;

      //newturnrate = limit(newturnrate, -40.0, 40.0);
      newturnrate = dtor(newturnrate);

      std::cout << "speed: " << newspeed
                << "turn: " << newturnrate
                << std::endl;



But it still does not follow the strict guidelines of the 90-degree turn!


if someone can help me!
thanks!
John felipe

Fernando Zuher wrote:
> 
> 
> Hello,
> 
> My example is that:
> The robot is moving in the ambient. In a moment the robot detects a
> obstacle (through for a laser) so close to it. So it turns exactly 90
> degrees (because of a obstacle).
> 
> I want that it turns exactly 90 degrees when it turns and the robot shall
> to continue moving after of that turning.
> 
> How could I do that?
> 
> Regards,
> Fernando - Brazil 		 	   		  
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