"make turn decision for line following" Code Answer's

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make turn decision for line following

Motionless Moose on May 04, 2021

def check_shift_turn(angle, shift):
   turn_state = 0
   if angle < tconf.turn_angle or angle > 180 - tconf.turn_angle:
       turn_state = np.sign(90 - angle)
   shift_state = 0
   if abs(shift) > tconf.shift_max:
       shift_state = np.sign(shift)
   return turn_state, shift_state
def get_turn(turn_state, shift_state):
   turn_dir = 0
   turn_val = 0
   if shift_state != 0:
       turn_dir = shift_state
       turn_val = tconf.shift_step if shift_state != turn_state else tconf.turn_step
   elif turn_state != 0:
       turn_dir = turn_state
       turn_val = tconf.turn_step
   return turn_dir, turn_val

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"make turn decision for line following" Code Answer's