/// <summary> /// Move the gun to the desired bearing /// </summary> /// <param name="desiredGunBearingRadians"></param> internal void SetMoveGunToDesiredBearing(double desiredGunBearingRadians) { var turnAmount = Utils.NormalRelativeAngle(desiredGunBearingRadians - _robot.GunHeadingRadians); _robot.SetTurnGunRightRadians(turnAmount); }