Hi Jiwoo, to make your line follower rotate by 90 degrees at a stationary position, you can utilize the differential drive controller and the Pure Pursuit path following algorithm
distanceToGoal = norm(robotInitialLocation - robotGoal);
while(distanceToGoal > 0.1) % Adjust the threshold according to your requirements
% Update the robot's pose and compute the desired linear and angular velocities
robotCurrentPose = [robot.CurrentPose(1:2) robotCurrentPose(3)];
[v, omega] = pathFollower(robotCurrentPose);
% Check if the robot is near a corner to perform the rotation
currentWaypoint = pathFollower.CurrentWaypoint;
if currentWaypoint == size(waypoints, 1) && distanceToGoal < 0.5 % Adjust the threshold according to your requirements
v = 0; % Set linear velocity to zero to stop the robot
omega = pi/2; % Set angular velocity to rotate 90 degrees
end
% Drive the robot based on the computed velocities
drive(robot, v, omega);
% Update the distance to the goal
distanceToGoal = norm(robot.CurrentPose(1:2) - robotGoal);
% Pause for a short duration to visualize the motion
pause(0.1);
end
or else
% Get current heading
currentHeading = getCurrentHeading();
% Calculate desired heading
desiredHeading = currentHeading - 90; % For a left turn
% Rotate the line follower
rotate(lineFollower, desiredHeading);
Make sure to replace getCurrentHeading() with the appropriate function or method to obtain the current heading of your line follower. Adjust the code accordingly for a right turn by adding 90 degrees instead of subtracting.
