Turning autonomously

[joelg236]

I'm trying to make turning in autonomous accurate and consistent. I've tried a PID (P and PD) solution and had little success. I've tried simple while loops but they overshoot (and with compensation they end up completely inconsistent). What kind of algorithm / way of doing turning is the most consistent and successful? In the WPIlib, would RobotDrive.drive() work better than RobotDrive.arcadeDrive()? If so how would I make it turn more on a dime than it does by default?

Just generally, what's the best way to turn consistently and accurately turn to any angle?

*Using a gyro and 6WD
**Assuming we are only turning and not going forwards