We are 7th grade in middle school have question reagarding the angle theta. If the robot head is facing west like the red arrow ( -50 degree , heading read by the GPS), if the robot turn right by the angle theta, it will not face the target in our mind. It should turn right by 50 plus theta degree. However, when I read some GPS code examples, there is nothing regarding that. All of the code just say turn the degree theta which I can’t figure out. Are we wrong on the understanding of the math calculation?
If your “0” is vertical, then you need to turn 50+(90-Theta). Phi gives you the angle from your heading to 0, and Beta is the angle from your 0 to your point.
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