From 094928841dfea9a41182120a5919b7adceace98a Mon Sep 17 00:00:00 2001
From: Richie <2837357W@student.gla.ac.uk>
Date: Mon, 20 Nov 2023 15:11:52 +0800
Subject: [PATCH] test+++++

---
 frtos/motor/motor_direction.h | 3 ++-
 frtos/motor/motor_pid.h       | 3 ---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/frtos/motor/motor_direction.h b/frtos/motor/motor_direction.h
index 00ad331..15f5d02 100644
--- a/frtos/motor/motor_direction.h
+++ b/frtos/motor/motor_direction.h
@@ -121,7 +121,8 @@ turn(uint32_t      direction,
 
     updateDirection(pp_car_struct->p_direction);
     float initial_yaw = pp_car_struct->p_direction->yaw;
-    float target_yaw  = adjust_yaw(initial_yaw + degree);
+    float target_yaw  = (direction == DIRECTION_LEFT) ? initial_yaw - degree
+                                                    : initial_yaw + degree;
 
     turn_to_yaw(direction, target_yaw, pwm_level, pp_car_struct);
 }
diff --git a/frtos/motor/motor_pid.h b/frtos/motor/motor_pid.h
index aa008fb..be80f5e 100644
--- a/frtos/motor/motor_pid.h
+++ b/frtos/motor/motor_pid.h
@@ -8,9 +8,6 @@
 #ifndef MOTOR_PID_H
 #define MOTOR_PID_H
 
-#include "magnetometer_init.h"
-#include "magnetometer_direction.h"
-
 /*!
  * @brief Compute the control signal using PID controller
  * @param integral The integral term of the PID controller