Fix yaw computation (#134)

* fixes for presenting f12 with coins

* fix yaw order

* revert docker container change

* revert tornado height

---------

Co-authored-by: Lukas Baecker <[email protected]>
Co-authored-by: Pascal Schade <[email protected]>

field_friend/automations/navigation/navigation.py

@@ -4,6 +4,7 @@
 from typing import TYPE_CHECKING, Any
 
 import rosys
+from rosys.helpers import angle
 from nicegui import ui
 
 from ..implements import Implement
@@ -83,7 +84,7 @@ async def _drive(self, distance: float) -> None:
     async def _drive_to_yaw(self, distance: float, yaw: float):
         deadline = rosys.time() + 2
         start_position = self.odometer.prediction.point
-        yaw -= self.odometer.prediction.yaw  # take current yaw into account and only steer the difference
+        yaw = angle(self.odometer.prediction.yaw, yaw) # take current yaw into account and only steer the difference
         with self.driver.parameters.set(linear_speed_limit=self.linear_speed_limit, angular_speed_limit=self.angular_speed_limit):
             await self.driver.wheels.drive(*self.driver._throttle(1, yaw))  # pylint: disable=protected-access
         try: