attempt to make robot rotate

.gitignore

@@ -17,3 +17,4 @@ src/C++/Driver/vgcore*
 src/C++/Driver/cmake_install.cmake
 src/C++/Driver/Makefile
 src/C++/Driver/log
+build/

src/C++/Driver/src/CKobuki.cpp

@@ -613,3 +613,30 @@ message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
   uint32_t pocet;
   pocet = write(HCom, &message, 11);
 }
+
+void CKobuki::Rotate(int degrees) {
+    //w is rotation speed of the robot, in [rad/s].
+	long double b = 0.23; // wheelbase distance in meters, from kobuki manual https://yujinrobot.github.io/kobuki/doxygen/enAppendixProtocolSpecification.html
+    int calculatedRotation = ((degrees * PI / 180) * b) / 2;
+    int actual_speed = 0; // Pure rotation
+unsigned char message[11] = {
+    0xaa,                // Start byte 1
+    0x55,                // Start byte 2
+    0x08,                // Payload length (the first 2 bytes dont count)
+    0x01,                // payload type (0x01 = control command)
+    0x04,                // Control byte or additional identifier
+    actual_speed % 256,  // Lower byte of speed value
+    actual_speed >> 8,   // Upper byte of speed value
+    calculatedRotation % 256,                // Placeholder for radius
+    calculatedRotation >> 8,                // Placeholder for radius
+    0x00                 // Placeholder for checksum
+};
+
+// Calculate checksum
+message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+              message[7] ^ message[8] ^ message[9];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}

src/C++/Driver/src/CKobuki.h

@@ -74,6 +74,7 @@ public:
 	void forward(int speedvalue, long double distance);
 	void doRotation(long double th);
 	void goToXy(long double xx, long double yy);
+	void Rotate(int degrees);
 	std::ofstream odometry_log;
 	KobukiParser parser;
 

src/C++/Driver/src/main.cpp

@@ -17,9 +17,10 @@ int main()
 	// thread mv(movement);
 	// mv.join(); //only exit once thread one is done running
 	// checkCenterCliff();
-	logToFile();
+	// logToFile();
 	//seperate thread so sleep doesnt block main thread
-	thread logger(logToFile);
+	// thread logger(logToFile);
+    robot.Rotate(120);
 	return 0;
 }
 
@@ -27,7 +28,7 @@ int checkCenterCliff()
 {
 	while (true)
 	{
-		std::cout << robot.parser.data.CliffCenter << endl;
+		std::cout << robot.parser.data.CliffSensorRight << endl;
 	}
 }