Bugs found during tests

AutonomousMode/ControlModule/control_module.cpp

@@ -36,7 +36,7 @@ void ControlModule::adjustSpeed(){
 
     for(int i = 0; i < 4; i++)
     {
-        motors[i] *= maxSpeed;
+        motors[i] *= factor;
     }
 };
 
@@ -85,7 +85,7 @@ void ControlModule::calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, d
     std::unique_lock<std::mutex> lock(mtx);
     double rotationRatio = ratio(angle);
     rotate(rotationRatio);
-    drive(1.0-rotationRatio);
+    drive(1.0-std::fabs(rotationRatio));
     unit();
     adjustSpeed();
 }
@@ -102,13 +102,21 @@ double ControlModule::ratio(double angle)
     double maxAngularSpeed = 1.0;
     double speedRange = maxAngularSpeed - minAngularSpeed;
 
-    double minAngle = -90.0;
-    double maxAngle = 90.0;
+    double minAngle = -20.0;
+    double maxAngle = 20.0;
     double angularRange = maxAngle - minAngle;
 
+    if(angle < minAngle)
+    {
+        angle = minAngle;
+    }
+    if(angle > maxAngle)
+    {
+        angle = maxAngle;
+    }
     double progress = angle - minAngle;
     double progressPercent = progress/angularRange;
 
     double speed = minAngularSpeed + progressPercent*speedRange;
-    return std::fabs(speed);
+    return speed;
 }