Linear acceleration for strafing and rotating #18
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…e strafe angle, strafing speed, wheel speeds, and speed factor; implemented getMinStrafeSpeed and getMaxStrafeSpeed methods to, respectively, get minimum and maximum strafing speeds of robot using getRobotSpeed method with minimum and maximum strafing power constants; set min_strafe_speed and max_strafe_speed variables to minimum and maximum strafing speeds, respectively
…RobotSpeed method
…ing getRobotSpeed directly from getHalfStrafeTime
…do a rotation based on the angle and the speed; added ROTATION_RADIUS constant which will be used for the calculations of the angular velocity
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This pull request implements linear acceleration based on time for strafing (in
travelLinearmethod) and rotating (inrotatemethod). This is done in order to fix the issue of the robot accelerating in a quadratic manner.getHalfRotateTimemethod to find half the amount of time it takes to rotate.getHalfStrafeTimemethod to find half the amount of time it takes to strafe.getRobotSpeedmethod to find the speed of the robot based on the angle and power. This is used in thegetHalfStrafeTimemethod for the miminum and maximum speeds of the robot, which are used in the time calculations.