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Re: Autonomous: Mixing Drive Distance PID's with Turn Angle PID's.
One thing i have found is that in the RobotDrive class for all 3 languages there is a ratio curve function. Into this you input a speed and a curve, and it does all of the ratio functions for both drive sides. It actually works fairly well. In your case, you could do the distance PID to get the speed and the turn PID to get the curve. then just enter those numbers in every time.
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All statements made are my own and not the feelings of any of my affiliated teams.
Teams 1510 and 2898 - Student 2010-2012
Team 4488 - Mentor 2013-2016
Co-developer of RobotDotNet, a .NET port of the WPILib.
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