fixed bug with moving car

car_srv/kotlinSrv/src/CarState.kt

@@ -12,8 +12,12 @@ class CarState private constructor() {
 
     //if distance is positive - move forward, else backward
     fun moving(distance: Int) {
-        x += (Math.cos(angle.toDouble()) * distance).toInt()
+        x += (Math.cos(degreesToRadian(angle)) * distance).toInt()
-        y += (Math.sin(angle.toDouble()) * distance).toInt()
+        y += (Math.sin(degreesToRadian(angle)) * distance).toInt()
+    }
+
+    private fun degreesToRadian(angleInDegrees: Int): Double {
+        return Math.PI * angleInDegrees / 180
     }
 
     //angle positive - rotation left

car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt

@@ -158,8 +158,8 @@ class ControllerEmulator : Controller {
         when (currentCommand.first) {
             MoveDirection.FORWARD -> carInstance.moving((commandTimeIncludeRandom * MOVE_VELOCITY).toInt() / 1000)
             MoveDirection.BACKWARD -> carInstance.moving(-(commandTimeIncludeRandom * MOVE_VELOCITY).toInt() / 1000)
-            MoveDirection.RIGHT -> carInstance.rotate((commandTimeIncludeRandom * ROTATION_VELOCITY).toInt() / 1000)
+            MoveDirection.RIGHT -> carInstance.rotate(-(commandTimeIncludeRandom * ROTATION_VELOCITY).toInt() / 1000)
-            MoveDirection.LEFT -> carInstance.rotate(-(commandTimeIncludeRandom * ROTATION_VELOCITY).toInt() / 1000)
+            MoveDirection.LEFT -> carInstance.rotate((commandTimeIncludeRandom * ROTATION_VELOCITY).toInt() / 1000)
             else -> {
             }
         }

car_srv/kotlinSrv/src/net/server/handlers/main/GetSonarData.kt

@@ -30,7 +30,6 @@ class GetSonarData : AbstractHandler {
             callback.invoke(encodeProtoBuf(responseMessage))
             return
         }
-        println("sonar")
         controller.executeRequestSensorData(message, callback)
     }
 }