def motion_update(p): v, w = control v_dt = v*dt w_dt = w*dt x, y, t = p return (x + v_dt*cos(t), y + v_dt*sin(t), angles.r2r(t))
def set_heading(new_t): new_t = angles.r2r(new_t) clkwise = new_t - t ct_clkwise = 2 * pi + t - new_t return clkwise if abs(clkwise) < abs(ct_clkwise) else ct_clkwise
def set_heading(new_t): new_t = angles.r2r(new_t) clkwise = new_t - t ct_clkwise = 2*pi + t - new_t return clkwise if abs(clkwise) < abs(ct_clkwise) else ct_clkwise