[Pogamut-list] Credible rotation (Rotate and TurnTo command)

[michal.bida]

Re: Credible rotation (Rotate and TurnTo command)

Author: michal.bida

Hi!

Ad TurnTo command - the behavior you described is not a bug. TurnTo command can turn the bot TO some location or TO some rotation. So the command you want to use is Rotate command. However, with Rotate command it is possible to change only one rotation axis at a time - yaw or pitch. And the bad thing is that new rotate command stops the old rotate command (they do not stack with each other).

The solution to your problem is as follows: get the output from your fuzzy engine - how much and where you want your bot to rotate and then add this value to your current bot rotation. Then use TurnTo command to set rotation you obtained this way. 

Hope this helps,
Michal

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