Our Code

This version of our gyro based turning turns along the center of the robot a set distance, slowing down after the slow down point until it reaches the target. It does this by setting the speed to max when the distance is over the slow down point and using the distance from the target relative to the slow down point to set the speed otherwise.

In short, This is our fancy turning code. it uses fancy math to be able to turn around a selected point any distance away on either side any amount of degrees, slowing down as it gets closer with controls over the base speed and the timer hardstop.