From 56fb57dc458bf7fc634793107c43ee4d20937017 Mon Sep 17 00:00:00 2001
From: Nathan Beaud <nathan.beaud@ecam.fr>
Date: Mon, 18 Mar 2024 11:09:26 +0100
Subject: [PATCH] Fixing minor errors and adding a QR code for owner

---
 QR_code_Owner.png | Bin 0 -> 1649 bytes
 redball_chase.py  |   4 ++--
 2 files changed, 2 insertions(+), 2 deletions(-)
 create mode 100644 QR_code_Owner.png

diff --git a/QR_code_Owner.png b/QR_code_Owner.png
new file mode 100644
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GIT binary patch
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diff --git a/redball_chase.py b/redball_chase.py
index 14ae9af..3d7390d 100644
--- a/redball_chase.py
+++ b/redball_chase.py
@@ -73,7 +73,7 @@ def image_callback(msg):
             if abs(err) > 100:  # Need to rotate DogBot to align with the ball
                 twist_msg.angular.z = -0.005 * err
             else:  # Move forward towards the ball
-                twist_msg.linear.x = 0.2
+                twist_msg.linear.x = -0.2
     else:
         if current_state == "searching":
             twist_msg.angular.z = 0.5  # Rotate DogBot if the ball is not found
@@ -90,7 +90,7 @@ def execute_half_circle():
     twist_msg.angular.z = 0.5  # Positive for counter-clockwise, negative for clockwise
     
     # Set a small or zero linear velocity to pivot around the ball
-    twist_msg.linear.x = 0.05
+    twist_msg.linear.x = -0.05
 
     # Calculate duration needed to perform a half-circle maneuver around the ball
     duration = 2  # Duration in seconds, adjust based on your robot's performance