From bd6526b57a32185369f5b9934b9053d7d7472dc1 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 15 May 2024 16:17:02 +0200
Subject: [PATCH] from 0 to 2 PI

---
 TCPServer.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index b944c46..857fcbe 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -178,10 +178,10 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
                     this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
                 }
                 else {
-                    if (speed > 0 && !(this->lidarDectectionAngle > PI / 2 || this->lidarDectectionAngle < - PI / 2)) {
+                    if (speed > 0 && !(this->lidarDectectionAngle > PI / 2 || this->lidarDectectionAngle < 3 * PI / 2)) {
                         this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
                     }
-                    else if (speed < 0 && !(this->lidarDectectionAngle < PI / 2 && this->lidarDectectionAngle > - PI / 2)) {
+                    else if (speed < 0 && !(this->lidarDectectionAngle < PI / 2 && this->lidarDectectionAngle > 3 *PI / 2)) {
                         this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
                     }
                 }