From 2b392ef04515981f884954e7003b18ba23db337c Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Fri, 10 May 2024 11:10:16 +0200
Subject: [PATCH] positive angle ->turn right

---
 DifferentialDrive.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/DifferentialDrive.cpp b/DifferentialDrive.cpp
index 3b1aabe..3d432be 100644
--- a/DifferentialDrive.cpp
+++ b/DifferentialDrive.cpp
@@ -47,11 +47,12 @@ void DifferentialDrive::SetMotorTargetSpeeds(float leftSpeed,
   };
 }
 
+#include <Arduino.h>
 void DifferentialDrive::SetTwistSpeed(float forward, float yaw) {
   float leftSpeed =
-      Float::Clamp(forward - yaw, -1, 1); // revolutions per second
-  float rightSpeed =
       Float::Clamp(forward + yaw, -1, 1); // revolutions per second
+  float rightSpeed =
+      Float::Clamp(forward - yaw, -1, 1); // revolutions per second
 
   float leftMotorSpeed = leftSpeed / rpsToMs;   // meters per second
   float rightMotorSpeed = rightSpeed / rpsToMs; // meters per second