allowed turtle to follow larger area

src/straight_line.py

@@ -56,7 +56,7 @@ def get_forward_acceleration(y, velocity):
     #is less (or if we are close to the finish)
     forward_velocity=np.dot(velocity,unit_vector)
     forward_acceleration = 2*(9.5-forward_velocity)
-    forward_acceleration_2 = -1*(b2*forward_velocity+k2*(y-300))/m
+    forward_acceleration_2 = -1*(b2*forward_velocity+k2*(y-100))/m
     return min(forward_acceleration, forward_acceleration_2)*unit_vector
 
 def guidance_law():
@@ -77,7 +77,7 @@ def guidance_law():
     #we add 2 to the vertical acceleration because otherwise it sometimes
     #just falls
     accelerations.vector.z=accel[2]+2
-    return to_publish        
+    return accelerations        
 
 
 def accel_publisher():

src/turtle_test.py

@@ -4,7 +4,7 @@ from turtlesim.srv import *
 from geometry_msgs.msg import PoseStamped
 
 def callback(data):
-   teleport_turtle(data.pose.position.x/2+6,data.pose.position.y/2+6,0) 
+   teleport_turtle(data.pose.position.x/100+6,data.pose.position.y/100+6,0)