Heading Correction
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Heading correction is used to keep the robot heading the same as the previous heading while the robot is translating. It is aggressive and will prevent angular rotation based control schemes from working.
Heading correction was added to YAGSL by Team 1466 and improved upon by 7525 Pioneers and BoiledBurntBagel of 6036.
You can enable or disable heading correction using from anywhere. The deadband is an arbitrary value that represents both meters persecond and radians epr second.
Heading correction is used in to control the heading via the deadband . Heading correction uses the heading PID from controllerproperties.json
and the current yaw to calculate an omega turning speed using .