Fix timeout calculation for Create 3 navigate_to()

[zur6322]

See modification & description between lines 165 to 185; to address premature timeout when navigating to origin using the navigate_to() function from longer distances

Original line was calculating the timeout based off the passed destination coordinates, not the distance traveling.
When traveling a longer distance to the origin(0,0), or a destination near the origin, the navigate_to() function
would time out before the destination was reached. For example, if traveling to the origin (0,0) from a location
further away than the robot can transit in 7 seconds, the robot will return from navigate_to() and begin processing
the next function, long before the robot ever reaches (0,0).
To correct this issue, the current position is polled, and delta_x & delta_y, which represent the actual distance
to the destination are calculated by subtracting the current position from the destination position. Then, these
values are used in place of X and Y in the original timeout calculation.

[shamlian]

Thank you for this bugfix, but there are some changes necessary before the PR can be accepted.

[shamlian]

Please remove these lines. These, and the commentary below are helpful, but they belong in the pull request, not in the final source.

[shamlian]

There should not be parenthesis around the expressions -- the lines should read something like

delta_x = x - self.pose.x
delta_y = y - self.pose.y

[shamlian]

Remove these lines. No reason to keep the dead code.

[shamlian]

Please add spaces between the first * as you did with the second * -- that is, the line should read:

        timeout = self.DEFAULT_TIMEOUT + int(math.sqrt(delta_x * delta_x + delta_y * delta_y) / 10) + 4  # 4 is the timeout for a potential rotation.

[shamlian]

I see now that you have allowed maintainers to edit your PR; I'm happy to try to make the changes and merge after testing.

[zur6322]

Yes, feel free to modify as you see fit. To be honest, I'm an EE major (not CE), so coding isn't exactly my wheelhouse. I just wanted to bring it to someone's attention this timeout issue within the SDK.

[shamlian]

I really appreciate it! For me to edit this PR, you'd have to add me as a collaborator. Here are the directions to do that. If you'd rather not bother, let me know, and I can reproduce this PR in the repository, but I'd love for you to have the credit on this PR if you'd like it.