From a7e4bbbb464f6f3734d5e75800f3cfeb3ffeaea6 Mon Sep 17 00:00:00 2001
From: "ishak jmilou.ishak" <ishak.jmiloui@hva.nl>
Date: Mon, 7 Oct 2024 10:29:00 +0200
Subject: [PATCH] fixing rotation

---
 src/C++/Driver/src/CKobuki.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

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;