We have been having an issuse with smartdrive turn to heading/rotation this is our code. Our robot keeps spinning and never moves past that part of the code
brain Brain;
controller Controller1 = controller(primary);
//left side
motor L1 = motor(PORT1, ratio6_1, false);
motor L2 = motor(PORT2, ratio6_1, true);
motor L3 = motor(PORT5, ratio6_1, false);
motor_group LeftG = motor_group(L1, L2, L3);
//right side
motor R1 = motor(PORT10, ratio6_1, true);
motor R2 = motor(PORT4, ratio6_1, true);
motor R3 = motor(PORT8, ratio6_1, false);
motor_group RightG = motor_group(R1, R2, R3);
// drive train control
distanceUnits units = distanceUnits::in;
double wheelTravel = 4 * M_PI;
double trackWidth = 12;
double wheelBase = 10;
double gearRatio = 2/3;
//drivetrain
inertial eyespye = inertial( PORT1);
smartdrive Deathtrain = smartdrive(LeftG, RightG, eyespye, wheelTravel, gearRatio);
void autonomous(void) {
eyespye.calibrate(3);
LeftG.spin(forward);
RightG.spin(reverse);
waitUntil(eyespye.rotation() >= 90);
LeftG.stop();
RightG.stop();
wait(1, seconds);