[apalrd]

When we do turns, we settle after ~200ms of sitting inside of the +-3deg exit threshold, and reset the counter if we are outside of that area.

We correct for the +-3deg of error in the drive straight, which brings us back to virtually no error (less than a degree, usually less than half a degree).

We had to do this to be as fast as possible, because of time constraints in the routine (we finish about 14.5s after auto starts).

The turn we do drives only the outer wheel for accuracy. We also have a fast turn which turns with both wheels and stops when it gets to or past the target (just killing the output power instead of overshooting), we use the fast turn as the first turn in the 2-tube routine, which turns from the backup to get the second tube. We are much more tolerant of error in this turn, and will compensate for this error later in the second turn and drive.