robot tutorial

Hi all,

Got torcs to work in windows.

I'm following berniw's robot tutorial, but I'm not sure I understand this part:

angle = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;

NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
angle -= SC*car->_trkPos.toMiddle/car->_trkPos.seg->width;

I get that the angle is the turning angle because it's (the tangent of the track) - (the angle of the car).
But why are you taking away the distance to the middle/the width of the track?
What value does this give you?

Thanks.

qin__23 		 	   		  
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