[NXT] "sync" flag in NXC call leads to wrong movement

[stex]

Possibly a continuation of #209

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Describe the bug

When moving only one motor and trying to go forward afterwards, the motor with the smaller degree count is trying to sync up with the other one resulting in a fast curve motion.

To Reproduce Steps to reproduce the behavior:

1. Write a program like the following:
2. Send it to the NXT
3. The NXT will drive forward, turn left and then turn right quickly.

Video: https://drive.google.com/file/d/1Zk5IJ0oU0fkrdMjGfX8OZlFMQtPKq9eN/view?usp=download

Generated NXC code:

#define WHEELDIAMETER 5.6
#define TRACKWIDTH 12.0
#define MAXLINES 8
#include "NEPODefs.h" // contains NEPO declarations for the NXC NXT API resources

task main() {
    SetSensor(S1, SENSOR_TOUCH);
    SetSensor(S2, SENSOR_SOUND);
    SetSensor(S3, SENSOR_LIGHT);
    SetSensor(S4, SENSOR_TOUCH);
    RotateMotorEx(OUT_BC, SpeedTest(40), (20 * 360 / (PI * WHEELDIAMETER)), 0, true, true);
    Wait(1);
    RotateMotor(OUT_B, SpeedTest(30), 360 * 1);
    RotateMotorEx(OUT_BC, SpeedTest(40), (20 * 360 / (PI * WHEELDIAMETER)), 0, true, true);
    Wait(1);
}

The problem here is the sync flag in RotateMotorEx: It leads to the motor which wasn't used in RotateMotor trying to catch up to the other one, leading to a very fast movement and therefore a curve.

Setting the sync flag to false in the second RotateMotorEx call solves the problem, but - of course - might lead to other problems again.

Expected behavior

1. The NXT drives forward
2. The NXT turns left
3. The NXT drives forward

[VinArt]

Yes, actually drive/steer blocks are not compatible with the blocks that just rotate the specified motor. This block: should be used when NXT is driving in order to turn it. I am not exactly sure how to deal with both blocks being used in one program, comments and suggestions are welcome

@bjost2s maybe you know?

[bjost2s]

Seems to be not solvable because regulated and unregulated functions influence each other when executed in the same program.