From ebfacd52b45a3aee1c64cee5eb5bd11b1392e9b3 Mon Sep 17 00:00:00 2001
From: "ishak jmilou.ishak" <ishak.jmiloui@hva.nl>
Date: Thu, 10 Oct 2024 13:19:57 +0200
Subject: [PATCH] test 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 2879f9c..8a56f37 100755
--- a/src/C++/Driver/src/CKobuki.cpp
+++ b/src/C++/Driver/src/CKobuki.cpp
@@ -644,9 +644,9 @@ 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 = 2.0;
+  long double Kp = PI;
   long double e = 0;
-  long double thresh = 1.0;
+  long double thresh = PI / 2;
 
   theta = 0;
   x = 0;