Work in radian.

glannuzel · glannuzel · commit bd0eefc69a3a · 2023-04-25T16:10:23.000+02:00
diff --git a/Packages/ReachySimulator/Scripts/JointServiceServer.cs b/Packages/ReachySimulator/Scripts/JointServiceServer.cs
@@ -451,8 +451,8 @@ public override async Task<FullBodyCartesianCommandAck> StreamFullBodyCartesianC
 
         private float ChangeAngleRange(float orbita_angle)
         {
-            float modified_angle = orbita_angle % (Mathf.Deg2Rad*360);
-            modified_angle = modified_angle > (Mathf.Deg2Rad*180) ? modified_angle - (Mathf.Deg2Rad*360) : modified_angle;
+            float modified_angle = orbita_angle % (2.0f * (float)Math.PI);
+            modified_angle = modified_angle > (float)Math.PI ? modified_angle - (2.0f * (float)Math.PI) : modified_angle;
             return modified_angle;
         }
     }

Original file line number	Diff line number	Diff line change
`@@ -451,8 +451,8 @@ public override async Task<FullBodyCartesianCommandAck> StreamFullBodyCartesianC`
`451`	`451`
`452`	`452`	`private float ChangeAngleRange(float orbita_angle)`
`453`	`453`	`{`
`454`		`- float modified_angle = orbita_angle % (Mathf.Deg2Rad*360);`
`455`		`- modified_angle = modified_angle > (Mathf.Deg2Rad180) ? modified_angle - (Mathf.Deg2Rad360) : modified_angle;`
	`454`	`+ float modified_angle = orbita_angle % (2.0f * (float)Math.PI);`
	`455`	`+ modified_angle = modified_angle > (float)Math.PI ? modified_angle - (2.0f * (float)Math.PI) : modified_angle;`
`456`	`456`	`return modified_angle;`
`457`	`457`	`}`
`458`	`458`	`}`