Use Gyro to turn 90 Degrees

[DavisC]

Alright I will be testing that tomorrow. I was curious about the value range because we had the bot set up with the following code:

float angle = gyro.GetAngle() + 90;
myRobot.Drive(-0.2, -angle / 30);

The robot went straight before the "+ 90"; the -0.2 is because a negative value is actually forward on the bot.

The result when running this was that the robot would turn right at a medium rate and continue turning after passing 90 degrees.

The other result that seemed odd was that changing "/ 30" to "/ 1" caused a slower turn rate while changing it to "/ 60" caused a faster turn rate.

[mikets]

If you just want a simple turn, don't use myRobot.Drive, just use ArcadeDrive, like this:

#define TURN_TOLERANCE 0.5
void Turn(float angle)
{
    float targetHeading = gyro.GetAngle() + angle;
    while (fabs(targetHeading - gyro.GetAngle()) > TURN_TOLERANCE)
    {
        myRobot.ArcadeDrive(0.0, (angle < 0.0)? -0.5: 0.5);
    }
}

However, if you want to adjust the turn power according to how far you are from your target, then you need to use PID.
BTW, you should really fix your signs by calling myRobot->SetInvertedMotor(), you will benefit from it in the long run.