Resolve merge conflicts

CPSSD · Apr 20, 2016 · 533c92a · 533c92a
1 parent f7dbe3e
commit 533c92a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/source/mega/simulator/simulator.ino b/source/mega/simulator/simulator.ino
@@ -173,7 +173,7 @@ void moveRobot(moveCommand* com) {
   destination = calculations.makeLineFromPolar((float((com->angle + 90) % 360) * PI) / 180 , com->magnitude, currentPosition);
   movingAngle = com->angle + (int)lround((angleSlip * (degreeOfError / maxDegreeOfError)));
   physicalAngle = physicalAngle + (int)lround((angleSlip * (degreeOfError / maxDegreeOfError)));
-  terminus = calculations.makeLineFromPolar((float((movingAngle + 90) % 360) * PI) / 180, com->magnitude, currentPosition);
+  terminus = calculations.makeLineFromPolar(((float)(((90 - movingAngle) + 360) % 360) * PI) / 180, com->magnitude, currentPosition);
   Line ray = Line(currentPosition, terminus);
   terminus = calculations.getDestination(ray, room);
   distTravelled = (unsigned long)lround(calculations.getDistBetweenTwoPoints(ray.start, terminus) * (1.0 - (degreeOfError / maxDegreeOfError)));
@@ -185,7 +185,7 @@ void moveRobot(moveCommand* com) {
 scanResponse scan() {
   scanResponse scanResp;
   scanResp.angle = laserAngle;
-  Line ray = Line(currentPosition, (calculations.makeLineFromPolar((((float)((laserAngle + 90) % 360) * PI) / 180), 4096.0, currentPosition)));
+  Line ray = Line(currentPosition, (calculations.makeLineFromPolar((((float)(((90 - laserAngle) + 360) % 360) * PI) / 180), 4096.0, currentPosition)));
   nearestWall = calculations.getDestination(ray, room);
   scanResp.magnitude = (unsigned long)lround(calculations.getDistBetweenTwoPoints(ray.start, nearestWall));
   scanResp.last = (laserAngle == 360);