From 4ecbb9ef9054855b91f672c82282c47f36948a22 Mon Sep 17 00:00:00 2001
From: George_Andreou <george@theo-andreou.org>
Date: Sun, 22 Jun 2025 00:06:30 +0300
Subject: [PATCH] Changed the throttle and fixed the left motors spin

---
 rally.py | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/rally.py b/rally.py
index d6a8737..543e796 100644
--- a/rally.py
+++ b/rally.py
@@ -58,12 +58,12 @@ while sonar.distance < 20:
         break
 
 print(">>>>> Starting movement!!!")
-mot_right.throttle = 0.5
-mot_left.throttle = 0.5    
+mot_right.throttle = 1
+mot_left.throttle = - 1    
 
 while True:
     # Find the motor revolutions
-    revleft = enc_left.position / COUNTS_PER_REV
+    revleft = - enc_left.position / COUNTS_PER_REV
     revright = enc_right.position / COUNTS_PER_REV
     
     distleft = revleft * circumference
@@ -77,4 +77,9 @@ while True:
         print("Target reached!!!")
         mot_left.throttle = 0
         mot_right.throttle = 0
-        break
\ No newline at end of file
+        break
+    
+    mot_right.throttle = 1
+    mot_left.throttle = - 1
+    
+    time.sleep(0.05)