ruff

field_friend/automations/navigation/field_navigation.py

@@ -207,29 +207,21 @@ async def _run_change_row(self) -> State:
         await self.gnss.ROBOT_POSE_LOCATED.emitted(self._max_gnss_waiting_time)
         # turn to row
         assert self.end_point is not None
+        driving_yaw = self.odometer.prediction.direction(self.end_point)
+        await self.turn_in_steps(driving_yaw)
 
+        if isinstance(self.detector, rosys.vision.DetectorSimulation) and not rosys.is_test:
+            self.create_simulation()
+        else:
+            self.plant_provider.clear()
 
-<< << << < HEAD
-   row_yaw = self.start_point.direction(self.end_point)
-    await self.turn_in_steps(row_yaw)
-
-    if isinstance(self.detector, rosys.vision.DetectorSimulation) and not rosys.is_test:
-        self.create_simulation()
-    else:
-        self.plant_provider.clear()
+        if isinstance(self.implement, WeedingImplement):
+            rosys.notify(f'Setting crop {self.current_row.crop} for {self.implement.name}')
+            self.implement.cultivated_crop = self.current_row.crop
+            self.implement.request_backup()
+        return State.FOLLOW_ROW
 
-    if isinstance(self.implement, WeedingImplement):
-        rosys.notify(f'Setting crop {self.current_row.crop} for {self.implement.name}')
-        self.implement.cultivated_crop = self.current_row.crop
-        self.implement.request_backup()
-    return State.FOLLOWING_ROW
-== == == =
-   driving_yaw = self.odometer.prediction.direction(self.end_point)
-    await self.turn_in_steps(driving_yaw)
-    return State.FOLLOW_ROW
->>>>>> > main
-
-   async def drive_in_steps(self, target: Pose) -> None:
+    async def drive_in_steps(self, target: Pose) -> None:
         while True:
             if target.relative_point(self.odometer.prediction.point).x > 0:
                 return