Rotate directly towards the immediate target#149
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Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
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Ah thanks for digging this up and fixing it! That issue has been around for so long that I almost stopped seeing it
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Signed-off-by: Michael X. Grey <greyxmike@gmail.com> Co-authored-by: Luca Della Vedova <lucadv@intrinsic.ai>
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This is simple fix for a flaw in the logic for orienting the robot towards its target. On
mainthe calculation was being biased by the goal orientation of the target. In other words, when the robot needs to rotate to start driving towards its target, it will choose an orientation that is closest to the goal orientation of that target, even though the goal orientation of the target has nothing to do with what direction the robot should face in order to drive towards the target.This flaw was one factor in the excessive rotations shown in this video.
I suspect this has been a cause of many inexplicable unnecessary rotations that we've seen the slotcars perform while
reversiblewas true.