Bots don't use full radius of waypoint

[Sc0Rp]

As the title already suggests, bots don't use the full radius of a certain waypoint.
When I set a debuggoal to a specific waypoint that has, for example, a radius of 112 and watch the bot carry out the goal for multiple times, it will never comes to a standstill on the outer edges of the radius.
The closest it will get is in the middle of it.
Also when bots are simply walking, the same issue occurs. Debuggoal was just an example.


So my guess is that there's an error in the botcode that has to do with radius/diameter since the farthest point is about the middle of the radius the bot will use.

[RoboCop]

I'm not sure but during the Lockdown, I did some tweaks along with Storm's fixes for my POD-Bot modified build here:

https://github.com/APGRoboCop/podbot_mm

[Sc0Rp]

I've downloaded and tested the version you've posted a link from.
It's even worse since the bot goes to the dead center of the radius ( read: actual waypoint coordinates ) each time it approaches the waypoint when debuggoal is active.
When debuggoal is -1 ( = off ) the bot walks through waypoints but this time not dead center ( as if the waypoint has a radius of 0 ).

After testing a bit more with the version I was currently using ( V3B22 ), I noticed sometimes the bot exceeded halfway the radius of a specific on a couple of occasions but never really the outer edges.
What's the use of radius if the bot not fully makes use of it?
To put in numbers: 80-90% the bot ends up halfway ( of the radius ) or less from the actual waypoint.

[RoboCop]

Yes well I've not did many fixes to POD-Bot, but to be honest, it seemed pointless because Jeefo is maintaining YaPB which is superior to POD-Bot but is compatible with POD-Bot waypoints.