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Submitted By: Jayen Ashar (jashar)
Assigned to: Rich Mattes (jpgr87)
Summary: goto driver turns the long way really fast sometimes
I had a problem when turning in place, the goto driver goto driver sometimes turned the long way really fast. The attached patch fixes this and includes some other small changes:
- "last_dir" is removed
- "angle_diff" is simplified
- when turning in place, "ad" has the correct sign
- when turning in place, angular velocity is limited by "min_angular_vel" and "max_angular_vel"