Right now, straight() and turn() have had continual issues with tuning on different surfaces, If we were to improve the speed controllers (Needs to be re-tuned for almost-instant ramp up, better handling under load, and to have a faster speed change response overall), then we can use set_speed within _move() to fix a lot of the issues we have seen with drive performance (overshoot, low battery, angular drift, etc). This will lessen the need for many of the secondary fixes we've thrown on top of these methods to improve things bit by bit over time
Right now, straight() and turn() have had continual issues with tuning on different surfaces, If we were to improve the speed controllers (Needs to be re-tuned for almost-instant ramp up, better handling under load, and to have a faster speed change response overall), then we can use set_speed within _move() to fix a lot of the issues we have seen with drive performance (overshoot, low battery, angular drift, etc). This will lessen the need for many of the secondary fixes we've thrown on top of these methods to improve things bit by bit over time