we posted sample code - this might help
Specifically:
void driveTurnFor(float count)
{
Leftfront.rotateFor(-1.0*count, rotationUnits::rev,false);
Leftback.rotateFor(-1.0*count, rotationUnits::rev,false);
Rightback.rotateFor(count, rotationUnits::rev,false);
Rightfront.rotateFor(count, rotationUnits::rev); // block until complete
task::sleep(50);
}
void driveTurnDegrees(float degrees)
{
float rotdegree = 0.82/90;
driveSetVelocity(40.0); // turn more slowly to avoid overshoot
driveTurnFor( degrees * rotdegree );
}
void driveTurnLeftDegrees(float degrees) // counter clockwise - so negative degrees
{
driveTurnDegrees( 1.0 * degrees);
}
void driveTurnRightDegrees(float degrees) // clockwise
{
driveTurnDegrees(-1.0 * degrees);
}