I apologize if this is already a feature hidden somewhere in script ,but I could not find it. General home navigation is easy using a Cam pointed at the ceiling , as the cam rolls under QR codes it reads them. However the QR code reader can decipher the code at any angle or even upside down. It would be fantastic if a there was a reading for the angle of rotation the QR code is when it is read. Like 0 degrees , 90 degrees or whatever. Even just 16 positions would be great so that the robot reads the code then also reads orientation it is facing as well. Simple fix. The other option is a electronic compass , but QR code read angle would be fantastic. Thanks