As of today that is still the problem. I went through all kinds of functions, from constant to parabolic to exponentials. The day before yesterday Fritz said that it should be a Sigmoid function so i looked that up and tried that but it also didn't work. I read a lot of papers on the topic and the last one i found is very good and it turns out my function should be piece-wise with a constant part and a parabolic part, i did that but i run into the same problem i did before. It moves just find until it reaches two obstacles on each side. then it either starts to spin infinetly or it turn around and goes in a direction opposite of the one it should or anything random along those lines.

I read online that this algorith has that problem of getting confused between two obstacles and i am still trying to figure out what could fix that. I will try to scale the obstacle vector later today make it a little smaller maybe that will help. It's getting on my nervs and the approximation or nomalization which Bill and Fritz suggest doesn't really work. It doesn't look like i will get to the other project any time soon. Fritz said on monday that he really didn't plan for this to be that hard but it turns out it is and that he will help me sort it out by thursday but he just comes occasionally and says to try another random function cause that may "luckily" work and nothing. I really want to finish it.

Today is Friday and there is a problem that i don't think comes from me but since everyone almost
left and the only person(Fritz) who could possibly help me is very busy because he cannot get the keyboard on the robot to work ( i think ), i am waiting for Bill to come back so that maybe he could look at my code and tell e what is wrong. I run my program without running the program that tests it and nothing should happen because nothing tells the robot to move anywhere but there is a request to move that comes from somewhere else :( - to (0,0) facing the x-axis. After I am done with this since everything else seems to work I just have to find the correct constants for the function that calculates the angle.