Instead of rotating to a relative gyro location, rotate to one that is field oriented.
Also ensure that the degrees of rotation is minimized (e.g. 70 degrees clockwise instead of 290 degrees counterclockwise).
Should also implement IMirrorable<Command> as well in case it can be used in auto modes.
ryanlarkin
commented
5 years ago
Instead of rotating to a relative gyro location, rotate to one that is field oriented. Also ensure that the degrees of rotation is minimized (e.g. 70 degrees clockwise instead of 290 degrees counterclockwise). Should also implement
IMirrorable<Command>as well in case it can be used in auto modes.