From 190acba99a75b3485f6ad27f30849b2606dc3a99 Mon Sep 17 00:00:00 2001 From: Ricky Barrette Date: Wed, 14 Mar 2012 14:16:33 -0400 Subject: [PATCH] Fixed call to GeoUtils.calculateBearing() I had to compensate the bearing being feed into the method. It was exspecting a float 0-360 and was receiving a float -180 to 180. This simple fix increased the robot's navivation accuracy Change-Id: I9f29d8c36a2d2e840bb3ee68303d2c77f6c0e5be Signed-off-by: Ricky Barrette --- .../com/TwentyCodes/android/IOIOTruck/NavigationActivity.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java index 568f14d..991e870 100644 --- a/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java +++ b/IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/NavigationActivity.java @@ -210,7 +210,7 @@ public class NavigationActivity extends FragmentActivity implements CompassListe Log.v(TAG, "Heading ="+mHeading); - bearing = GeoUtils.calculateBearing(mMap.getUserLocation(), mMap.getDestination(), bearing); + bearing = GeoUtils.calculateBearing(mMap.getUserLocation(), mMap.getDestination(), bearing < 0 ? bearing + 360 : bearing); if(bearing > 355 || bearing < 5) mIOIOManager.setSteerValue(IOIOTruckValues.STEER_STRAIGHT);