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bugfix: platform position controller is turning into wrong direction

Fabian Reister requested to merge fix/platform-rotation into master

Changes

  • Orientation PID controller with 'limitless' flag to clamp error to [-pi, pi]
  • Clamping incoming angles (target orientation and current orientation) to [-pi, pi]
  • Simplified implementation (removed the buggy/incorrect code)

Tests

Tested in simulation: from orientation -1.3 to 1.5

Edited by Fabian Reister

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