Instantiate a new PID controller (either directly or via Locobot Controller) to handle angle velocity when aligning with block. The desired bearing can be calculated using the block's AprilTag. If tuned right, it will allow a fast initial rotation and then slows as the target bearing is reached.
Once settled at bearing, alignment code can confirm and adjust angle if necessary.
Instantiate a new PID controller (either directly or via Locobot Controller) to handle angle velocity when aligning with block. The desired bearing can be calculated using the block's AprilTag. If tuned right, it will allow a fast initial rotation and then slows as the target bearing is reached.
Once settled at bearing, alignment code can confirm and adjust angle if necessary.