Improvements to GyroTurn
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StephenWelch commented
GyroTurn doesn't perform as well as it could. We should add feedforwards - a minimum power to apply to the motors - to overcome static friction inside our gearboxes. This should help eliminate the "creeping" motion where the robot would get within ~35-45 degrees of it's angle target then slow down considerably.
- Feedforward can be calculated by converting from voltage to percent of total output.
- On the practice drivetrain, this voltage is ~0.8V