Spinning e-puck for an angle: not working

[DisaacD]

Hi,
I used the code below to spin e-puck for an angle theta; where
ROBOT_ANGULAR_SPEED_IN_DEGREES= 278.237392796. The hardcopy document I have explained how the mathematical formula was derived. However, when I run the simulation, the robot rotates for a much lower angle than theta. Any advice,please?

'''

{

	double duration = abs(theta) / ROBOT_ANGULAR_SPEED_IN_DEGREES;

 	// run the simulator
	double start_time = wb_robot_get_time();

	if (theta > 0)
	{
		motorRotateLeft();
	}
	else if (theta < 0)
	{
		motorRotateRight();
	}
	
	do
	{
		step();
	}
	while (wb_robot_get_time() < start_time + duration);
}

'''

[omichel]

Yes, this is because of inertia. The motors are not strong enough to reach the maximum speed instantly. Therefore the actual average speed is lower than the maximum speed.