Diff: Strategie/Strategie.cpp

Revision:

52:a47350923b5e

Parent:

51:aa6e09f2cfec

Child:

53:e96acb11a51f

--- a/Strategie/Strategie.cpp	Sat May 18 16:54:06 2019 +0000
+++ b/Strategie/Strategie.cpp	Tue May 21 14:38:09 2019 +0000
@@ -1,6 +1,7 @@
 #include "global.h"
 #include <string.h>
 #include <sstream>
+#include <math.h>
 //#include "StrategieManager.h"
 
 
@@ -1316,12 +1317,14 @@
                         localData2 = instruction.arg3;
                     } else {//C'est un rotation absolu, il faut la convertir en relative
                         localData2 = instruction.arg3;
-
+                        
                         localData2 = (localData2 - theta_robot)%3600;
                         if(localData2 > 1800) {
                             localData2 = localData2-3600;
                         }
-
+                        else if(localData2 <-1800){
+                            localData2 = localData2+3600;
+                        }
                     }
                     if(InversStrat == 1 && ingnorInversionOnce == 0) {
                         localData2 = -localData2;