From 6c81dbf9980a7936a6e39893605cdd7f8da6d87d Mon Sep 17 00:00:00 2001
From: EmaMaker <emamaker0@gmail.com>
Date: Tue, 1 Jun 2021 16:17:52 +0200
Subject: [PATCH] drive: fix to accept tilt values in the [0,360] range

---
 src/motors_movement/drivecontroller.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/motors_movement/drivecontroller.cpp b/src/motors_movement/drivecontroller.cpp
index a2aa010..65ba45e 100644
--- a/src/motors_movement/drivecontroller.cpp
+++ b/src/motors_movement/drivecontroller.cpp
@@ -94,8 +94,9 @@ void DriveController::drive(int dir, int speed, int tilt){
     // Calculate position error relative to the 0
     delta = CURRENT_DATA_READ.IMUAngle;
     if(delta > 180) delta = delta - 360;
-
     input = delta;
+
+    if(tilt > 180) tilt = tilt - 360;
     setpoint = tilt;
     
     if(pid->Compute()){