Angular Momentum

Changing to basic angles seems to have helped considerably.  The movements are now more controlled.  The problem is, now they’re completely overshooting the mark.  I think the problem is that I’m sending rotate requests with every frame, and they’re getting queued up on the robot.  So, I say LEFT LEFT LEFT LEFT LEFT LEFT LEFT STOP, but it’s hit the mark after just two LEFTs. yet it still runs through the remaining five LEFTs before it sees my STOP.

Looks like I need to go async here and have the robot tell me when it’s done moving before I send it another command.