to do our arc, we tell the robot to do a certain number of rpms on each side of the wheel base, using the following (pseudo) code:
Code:
VForward = 40;
omega = dist_from_wall / some_constant + desired_dist_from_wall / some_constant;
wheel_left = VForward + omega;
wheel_right = VForward - omega;
it has gotten us some pretty accurate turns, with some tweaking.