I've added a
navx_rotate_to_angle_arcade example to the set of samples. If you look at the diff, there's basically two changes that I made:
- Changed the physics implementation to call the appropriate functions for a 4 wheel drivebase instead of mecanum (2 small changes)
- instead of calling mecanumDrive_Cartesian it calls arcadeDrive and passes the rotation rate as the second argument
You'll note that arcade drive does not accept the same arguments as mecanum drive -- in particular, it does not accept extra 'rotation' or 'gyroangle' arguments.
Hope that helps!