2 files changed, 18 insertions, 3 deletions
diff --git a/source/Concept/Framework/modules/executor/navigator.c b/source/Concept/Framework/modules/executor/navigator.c
index 7c4618a..8320eca 100755
--- a/source/Concept/Framework/modules/executor/navigator.c
+++ b/source/Concept/Framework/modules/executor/navigator.c
@@ -59,7 +59,7 @@ void Navigator::Drive(float newDirection, float newAngle, float newSpeed, float
 //-----------------------------------------------------------------------------
 void Navigator::DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed)
 {
-	if(newX < 0 || newY < 0) return;
+	if(newX == EMPTY_FLOAT || newY == EMPTY_FLOAT) return;
 
 	Position_Tracker* locationeer = parent->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
 
@@ -125,7 +125,7 @@ bool Navigator::TargetReached()
 
 	bool targetReached = false;
 
-	if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < 1.0f))
+	if(!HasTarget() || (distance2d(targetX, targetY, locationeer->GetPositionX(), locationeer->GetPositionY()) < DISTANCE_TOLERANCE))
 	{
 		targetReached = true;
 	}
@@ -230,7 +230,7 @@ void Navigator::CalculateEngines()
 	vBack = ((float)vBack * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
 	vRight = ((float)vRight * (float)((float)this->robotSpeed / (float)speedCorrection)) + this->rotationSpeed;
 
-	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vLeft,10,2);
+	(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,2);
 	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vBack,10,3);
 	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print(vRight,10,4);
 
diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h
index 53fa74b..989bc04 100755
--- a/source/Concept/Framework/modules/executor/navigator.h
+++ b/source/Concept/Framework/modules/executor/navigator.h
@@ -67,6 +67,21 @@ public:
 		return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
 	}
 
+	float GetTargetX()
+	{
+		return targetX;
+	}
+
+	float GetTargetY()
+	{
+		return targetY;
+	}
+
+	float GetDirection()
+	{
+		return direction;
+	}
+
 	bool HasTargetAngle()
 	{
 		return (targetAngle != EMPTY_FLOAT);