How hard would it be to force pivot turns CW or CCW? There are some times, when mowing a perimeter strip, that I don’t want to pivot in a direction that would put the front wheels outside of the perimeter. For example in the below, if the red mower is going to make a pivot turn and back up the way it came, (out the bottom of the screen), I want it to pivot CW and not CCW (because CCW would put the front wheels outside of the red perimeter line). My companion computer knows which pivot it desires … so, how can it tell the mower? Maybe my companion computer can command a stop, then command headings clockwise??
We don’t currently support this although I guess we could add support for the CONDITION_YAW command on skid-steering rovers. I’ve added an item to the to-do list although I can’t promise when a dev will get to it.
In the short-term I think the only way to do it is to arrange the target waypoint (or introduce a new waypoint) that leads to the pivot controller deciding it is easier (e.g. shorter rotation) to rotate in the desired direction.
