Coding Turns with the Inertial sensor vex code

Programming Support VEXcode V5 Tech Support
1

Hey all

My team has been trying to code more accurate turns using the inertial sensor, but i’m thoroughly unfamiliar with how the thing works. I’ve tried to built a simple function based on the position of the inertial to stop a right turn when it reaches a certain value, but when it’s called the robot either does nothing or spins forever. I currently am not using the variable D but instead have 90 plugged in as the angle value. Could someone explain exactly how to make this thing work?

double d;
void turnInertial(){

// Turns the robot to the right
 LDrive.spin(directionType::fwd, speed, velocityUnits::pct);
 LDrive2.spin(directionType::fwd, speed, velocityUnits::pct);
 RDrive.spin(directionType::rev, speed, velocityUnits::pct);
 RDrive2.spin(directionType::rev, speed, velocityUnits::pct);
 // Waits until the motor reaches a 90 degree turn and stops the Left and
 // Right Motors.
 waitUntil((Inertial.rotation(degrees) >= 90.0));
LDrive.stop(brakeType::hold);
LDrive2.stop(brakeType::hold);
RDrive.stop(brakeType::hold);
RDrive2.stop(brakeType::hold); wait(1, seconds);
}