Encoder Overflow when driving backwards

[Snaw3]

When driving backwards, the encoders of the Create Roomba 600 overflow, because the wrap around handler is implemented in a way, which only works in one direction

libcreate/src/create.cpp

Line 164 in d75d41c

ticksLeft = (ticksLeft % util::V_3_MAX_ENCODER_TICKS) + 1;

[Snaw3]

[Snaw3]

This fixes the issue:

// Handle wrap around
if (ticksLeft > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
    ticksLeft -= util::V_3_MAX_ENCODER_TICKS;
} else if (ticksLeft < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
    ticksLeft += util::V_3_MAX_ENCODER_TICKS;
}

if (ticksRight > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
    ticksRight -= util::V_3_MAX_ENCODER_TICKS;
} else if (ticksRight < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
    ticksRight += util::V_3_MAX_ENCODER_TICKS;
}