diff --git a/src/C++/Driver/src/CKobuki.cpp b/src/C++/Driver/src/CKobuki.cpp index 87f9954..19e09cf 100755 --- a/src/C++/Driver/src/CKobuki.cpp +++ b/src/C++/Driver/src/CKobuki.cpp @@ -700,9 +700,9 @@ void CKobuki::doRotation(long double th) { long double u = 0; // controlled variable, angular speed of the robot during movement long double w = th; // desired value in radians - long double Kp = PI * 2; + long double Kp = PI; long double e = 0; - int thresh = PI; + int thresh = PI /2; theta = 0; x = 0;