From 765be6d54731f0d44870baedbf1f8f152981350e Mon Sep 17 00:00:00 2001
From: Havoc <2993167370@qq.com>
Date: Tue, 13 May 2025 18:34:53 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9turn=5Fdegree=E5=87=BD?=
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---
 base_move/turn_degree.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/base_move/turn_degree.py b/base_move/turn_degree.py
index 02f7740..e0759f8 100644
--- a/base_move/turn_degree.py
+++ b/base_move/turn_degree.py
@@ -1,7 +1,7 @@
 import math
 import time
 
-def turn_degree(ctrl, msg, degree=90, relative=True):
+def turn_degree(ctrl, msg, degree=90, absolute=False):
     """
     结合里程计实现精确稳定的旋转指定角度
     
@@ -9,7 +9,7 @@ def turn_degree(ctrl, msg, degree=90, relative=True):
     ctrl: Robot_Ctrl 对象，包含里程计信息
     msg: robot_control_cmd_lcmt 对象，用于发送命令
     degree: 要旋转的角度，正值表示逆时针，负值表示顺时针，默认为90度
-    relative: 是否相对于当前角度，默认为True
+    absolute: 是否绝对角度，默认为True
 
     返回:
     Bool: 是否成功旋转到指定角度
@@ -21,10 +21,10 @@ def turn_degree(ctrl, msg, degree=90, relative=True):
     current_yaw = ctrl.odo_msg.rpy[2]
     
     # 计算目标朝向
-    if relative:
-        target_yaw = current_yaw + target_rad
-    else:
+    if absolute:
         target_yaw = target_rad
+    else:
+        target_yaw = current_yaw + target_rad
     
     # 标准化目标角度到 [-pi, pi] 范围
     if target_yaw > math.pi: