This is devlog #3 of the Rover Autopilot Software… I think I could FINALLY figure out how the rover can do efficient, controlled point-turns. The code had a function named setWheelReverse, which I removed because (after 4+ hours of debugging) I found out it was never reversing the assigned wheels. So, I came up with a smart solution: torque vectoring. There is a new function on the code named setWheelPower that sets a drive limiter on certain wheels -25% on the left wheels and 50% on the right wheels. Then, the executePointTurn function enables the drive limiter, sets every motor to 100% (or -100% for turns in the other direction), and rotates almost in place either way until the targeted heading is reached. Then, it stops turning, returns the wheels to normal, and starts driving. I also coded an intelligent slope-awareness function that does the following: maintains cruise speed on flat areas, speeds up on uphills (and recovers with max power if needed), and idles the motors and brakes on downhills. I will leave a video below showing every function in action, except for the science sequence, which I will show on the next devlog.