From 98c05192aa4e9f133ff9580792940cf838cedb39 Mon Sep 17 00:00:00 2001
From: pkwiecinski12 <72197165+pkwiecinski12@users.noreply.github.com>
Date: Fri, 9 Apr 2021 17:55:38 -0500
Subject: [PATCH] Update vision.py

Added robot location to obstacle location to reflect location with respect to arena.
---
 robot/vision.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/robot/vision.py b/robot/vision.py
index 8fe821c..057e0de 100644
--- a/robot/vision.py
+++ b/robot/vision.py
@@ -184,7 +184,9 @@ def detect(self, theta):
             x = dist * math.sin(angle)
             y = dist * math.cos(angle)
 
-            # TODO: Add to robot.x and robot.y
+            #Add to robot location to obstacle location
+            x = self.x + x
+            y = self.y + y
 
             # Round x and y to nearest ROUND_TO
             x = math.floor(x / self.ROUND_TO) * self.ROUND_TO