Linear acceleration for strafing and rotating #18
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This pull request implements linear acceleration based on time for strafing (in
travelLinear
method) and rotating (inrotate
method). This is done in order to fix the issue of the robot accelerating in a quadratic manner.getHalfRotateTime
method to find half the amount of time it takes to rotate.getHalfStrafeTime
method to find half the amount of time it takes to strafe.getRobotSpeed
method to find the speed of the robot based on the angle and power. This is used in thegetHalfStrafeTime
method for the miminum and maximum speeds of the robot, which are used in the time calculations.