Merge pull request #107 from purduesigbots/fix-turn-to-point

fix turn to point
purduesigbots · Oct 3, 2023 · 596698f · 596698f
2 parents 523c512 + a378baa
commit 596698f
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/ARMS/chassis.cpp b/src/ARMS/chassis.cpp
@@ -254,8 +254,8 @@ void turn(double target, MoveFlags flags) {
 // turn to point
 void turn(Point target, double max, double exit_error, double ap,
           MoveFlags flags) {
-	double angle_error = odom::getAngleError(target);
-	turn(angle_error, max, exit_error, ap, flags);
+	double angle_error = odom::getAngleError(target) * 180 / M_PI;
+	turn(angle_error, max, exit_error, ap, flags | RELATIVE);
 }
 
 void turn(Point target, double max, double exit_error, MoveFlags flags) {