From 0bca6b45bcb3aa30342673ed3a5b59c362993aaf Mon Sep 17 00:00:00 2001
From: Niclas B <niclasbassili@hotmail.com>
Date: Fri, 24 Apr 2026 17:04:51 +0200
Subject: [PATCH] fix for BWF when going CCW

---
 src/behaviors/followbwf.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/behaviors/followbwf.cpp b/src/behaviors/followbwf.cpp
index 3aecf3d..2db7a5d 100644
--- a/src/behaviors/followbwf.cpp
+++ b/src/behaviors/followbwf.cpp
@@ -30,6 +30,7 @@ void FollowBWF::start() {
     obsticleCount = 0;
     lastObsticle = 0;
     lastOutside = millis();
+    lastInside = millis();
 
 }
 
@@ -89,7 +90,9 @@ int FollowBWF::loop() {
             }
             controller->RunAsync(-FULL_SPEED, -FULL_SPEED, NORMAL_ACCELERATION_TIME);
         }
-        controller->TurnAngle(DOCKING_TURN_ANGLE_AFTER_BACK_UP);
+        // Turn toward the wire: CW = right turn, CCW = left turn
+        int turnAngle = BWF_CLOCKWISE ? DOCKING_TURN_ANGLE_AFTER_BACK_UP : -DOCKING_TURN_ANGLE_AFTER_BACK_UP;
+        controller->TurnAngle(turnAngle);
         return id();
     }