From 29cef52317cb08b5257b47fa08796a52f2e57bfc Mon Sep 17 00:00:00 2001
From: e5l <leonid.stashevsky@gmail.com>
Date: Fri, 2 Sep 2016 10:19:14 +0300
Subject: [PATCH] car_srv: rotation small fix

---
 server/src/main/java/RoomScanner/RoomScanner.kt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/server/src/main/java/RoomScanner/RoomScanner.kt b/server/src/main/java/RoomScanner/RoomScanner.kt
index 2cda005a519..df41bb953a2 100644
--- a/server/src/main/java/RoomScanner/RoomScanner.kt
+++ b/server/src/main/java/RoomScanner/RoomScanner.kt
@@ -28,13 +28,13 @@ class RoomScanner(val controller: CarController) : Thread() {
 
         val dots = mutableListOf<Pair<Double, Double>>()
         for (i in arrayOf(0.0, 90.0, 180.0, 270.0)) {
-            controller.rotateLeftWithCorrection(90.0)
             dots.addAll(controller.scan(horizon).mapIndexed { i: Int, d: Double -> controller.convertToPoint((i * 5 - 180).toDouble(), d) })
             controller.drive(CarController.Direction.FORWARD, 10)
             controller.drive(CarController.Direction.BACKWARD, 10)
+
+            controller.rotateLeftWithCorrection(90.0)
         }
 
-        controller.rotateLeftWithCorrection(90.0)
         return dots
     }