Roomba turning issues #2
Description
-We know that the roomba is getting told to turn (noise and 180 turn triggering is working)
-The problem is that the roomba turning isn't actually working as you increment steps. Once a turn is first triggered - at (timestep 50) the roomba starts turning at 0.15 rad/timestep (which is 1.5 rad/sec) indefinitely. Seems like the roomba doesn't detect when it's finished turning.
Log of data for roomba collected over 250 timesteps is attached. Note how roomba direction starts incrementing by 0.15 at step 49 and doesn't stop afterwards. Also not how roomba x-y doesn't reflect turning.