Re: Accurately "Arcing" in Auton/Hybrid Mode
 

Our experiments with "smooth arc" turns used a subtly different approach. We changed the desired heading based on distance traveled rather than on time elapsed.

Re: Accurately "Arcing" in Auton/Hybrid Mode
 

Honestly, I think this thread should become a "Sticky".
There are some really great suggestions of how to both drive straight and turn "smoothly". Most of which are different. Each way has it's advantages and disadvantages, as well as varying levels of complexity. The beauty is, it gives the reader several options to achieve the result desired. Then the choice becomes, which way best suite the needs of the design and the skills available to implement the solution.
Please keep posting solutions and their implementations. This is great!!

Re: Accurately "Arcing" in Auton/Hybrid Mode
 

I believe that is what Jay's code does.