From c25d4f9168e34438d7c1d6fdde9e1921a887ab29 Mon Sep 17 00:00:00 2001 From: jgk Date: Fri, 17 May 2024 11:51:45 +0200 Subject: [PATCH] Making theta counterclockwise positive --- Core/Src/robot.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Core/Src/robot.c b/Core/Src/robot.c index 6984b92..f1ce070 100644 --- a/Core/Src/robot.c +++ b/Core/Src/robot.c @@ -685,6 +685,8 @@ void handleRobotCommand(uint8_t* packet_buffer){ memcpy(robotCommandPayload.payload, packet_buffer, REM_PACKET_SIZE_REM_ROBOT_COMMAND); REM_last_packet_had_correct_version &= REM_RobotCommand_get_remVersion(&robotCommandPayload) == REM_LOCAL_VERSION; decodeREM_RobotCommand(&activeRobotCommand,&robotCommandPayload); + // Temporary flipping of theta untill the correct coordinate frame is implemented in the other parts of the 5.0 code + activeRobotCommand.theta = -activeRobotCommand.theta; flag_sdcard_write_command = true; }