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DanielVartanov/gist:c63ca0846d2a61f3cef5

Created July 18, 2015 18:36
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gistfile1.txt
case angle_diff.abs
when 0.degrees..45.degrees
ratio = 1 - angle_diff / 45.degrees
motor! [-sign, ratio].max * power, [ratio, sign].max * power
when 45.degrees..135.degrees
motor! [-sign, 0].max * power, [0, sign].max * power
when 180.degrees
motor! -1, 1
else
motor! -sign, sign
end
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