From 0b7bbd0497cf39723116921ebb9bf6fb62934977 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 19 Mar 2025 17:26:29 +0100
Subject: [PATCH] BB2B-nw works!

---
 Examples/BB2B_networking.py | 8 ++++----
 LinearAlgebra/Angle.py      | 4 ++--
 LocalParticipant.py         | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/Examples/BB2B_networking.py b/Examples/BB2B_networking.py
index 58046c1..7f5ea8c 100644
--- a/Examples/BB2B_networking.py
+++ b/Examples/BB2B_networking.py
@@ -36,17 +36,17 @@ touch_right.SetPosition(Spherical(0.12, Direction.Degrees(30, 0)))
 while True:
     # The left wheel turns forward when nothing is touched on the right side
     # and turn backward when the roboid hits something on the right
-    wheel_speed_left = 600 #-600 if touch_right.touched_something else 600
+    wheel_speed_left = -600 if touch_right.touched_something else 600
     # The right wheel does the same, but instead is controlled by
     # touches on the left side
     wheel_speed_right = -600 if touch_left.touched_something else 600
     # When both sides are touching something, both wheels will turn backward
     # and the roboid will move backwards
     bb2b.SetWheelVelocity(wheel_speed_left, wheel_speed_right)
-    if touch_left.touched_something:
-        print(f'{wheel_speed_left} {wheel_speed_right} {bb2b.linear_velocity.distance} {bb2b.linear_velocity.direction.horizontal}')
+    if touch_left.touched_something or touch_right.touched_something:
+        print(f'{wheel_speed_left} {wheel_speed_right} {bb2b.linear_velocity.distance} {bb2b.angular_velocity.distance}')
 
     # Update the roboid state
     participant.Update()
     # and sleep for 100ms
-    time.sleep(1.0)
+    time.sleep(0.1)
diff --git a/LinearAlgebra/Angle.py b/LinearAlgebra/Angle.py
index aeba133..f4741c9 100644
--- a/LinearAlgebra/Angle.py
+++ b/LinearAlgebra/Angle.py
@@ -6,8 +6,8 @@ class Angle:
 
     @staticmethod
     def Normalize(angle):
-        while angle <= -180:
+        while angle < -180:
             angle += 360
-        while angle > 180:
+        while angle >= 180:
             angle -= 360
         return angle
\ No newline at end of file
diff --git a/LocalParticipant.py b/LocalParticipant.py
index 5b1e9be..e828e34 100644
--- a/LocalParticipant.py
+++ b/LocalParticipant.py
@@ -133,7 +133,7 @@ class LocalParticipant(Participant):
         if buffer_size <= 0:
             return True
         
-        print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
+        # print(f'{self.name} send {self.buffer[0]} to {owner.ip_address} {owner.port}')
         self.udp_socket.sendto(self.buffer[:buffer_size], (owner.ip_address, owner.port))
         return True
 
@@ -216,7 +216,7 @@ class LocalParticipant(Participant):
         print(f'received model url: {msg.url}')
 
     def ProcessBinaryMsg(self, msg: BinaryMsg):
-        print('received binary data')
+        # print('received binary data')
         thing: Thing = self.Get(msg.network_id, msg.thing_id)
         if thing != None:
             thing.ProcessBinary(msg.data)