Since your agents are linked, a first thought could be to use link-heading, which directly reports the heading in degrees from end1 to end2. In NetLogo it is often possible to use turtles' heading to know degrees. For some reason the comment I am referring to has been deleted quickly so I don't know who gave the suggestion, but I read enough of it from the cell notification) If(abs(self.output)>= MAX_PWM-iPWM and (((self.error>=0) and (self.integral_error>=0))or((self.(Following a comment, I replaced the sequence of with just using towards, wich I had overlooked as an option. Self.output = self.kp*self.error + self.ki*self.integral_error + self.kd*rivative_error
rivative_error = (self.error - self.error_last) / dt #self.integral_error += self.error * TIME_STEP IPWM = 20 # initial motor power in duty cycle But it might not be so! For example, if you have undirected links and are interested in knowing the angle from turtle 1 to turtle 0, using link-heading will give you the wrong value: If that's something that you are interested in, fine.
If your links are directed, it reports the heading from the source to the target.However note that this might not be ideal: using link-heading will work spotlessly only if you are interested in knowing the heading from end1 to end2, which means: (Following a comment, I replaced the sequence of with just using towards, wich I had overlooked as an option.
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