If a service call to the driver includes a turn and a negative distance, the driver immediately enters the reverse state, skipping the turn completely.
Using the claw_offset argument, its possible, and now common in dropoff, for the effective distance's used in Swarmie.drive_to() to be negative. This happens when the rover has arrived at a home corner, while its on top of one side of the home plate. In this case, the intent of the drive_to() call is to make the rover turn ~90-120 degrees left, back up ~5-10 cm, and drop off the cube just inside of the home tags.
This addresses #194
If a service call to the driver includes a turn and a negative distance, the driver immediately enters the reverse state, skipping the turn completely.
Using the
claw_offsetargument, its possible, and now common indropoff, for the effective distance's used inSwarmie.drive_to()to be negative. This happens when the rover has arrived at a home corner, while its on top of one side of the home plate. In this case, the intent of thedrive_to()call is to make the rover turn ~90-120 degrees left, back up ~5-10 cm, and drop off the cube just inside of the home tags.