[zsnow]

Originally Posted by orangelight

I have never heard of themed code...

Well, we had to call it something. Perhaps peruse the code. You'll see what we mean.

From https://github.com/Team2122/Kartoshk...systems/Otto.h:

/**
 * Gets how far from communism you have turned
 * @return How far from communism in degrees
 */
double GetAngle();

/**
 * Resets angle to straight communsim
 */
void ResetAngle();

/**
 * Makes sure communism sensor is calibrated (zerod)
 */
void StartGyroCalibration();

/**
 * Forces gyro to be calibrated or else...
 */
void FinishGyroCalibration();