RotateCruizcore store previous gyro rate

[jabrena]

Version detected: v0.3.1
Developing the method GoToXY, I discovered that the block about RotateCruizcore doesn´t work in the right way if the user rotate twice. What is the reason?

The sensor internally doesn´t reset the internal value every time that the sensor is called.

Alternatives:

1. Reset the sensor
One default solution could be resetting the sensor another one. The problem is the global I2C Support. Complex alternative.

Related issue: #29

2. Improve Sensor Characterization
Maybe it is easier if I understand better default behaviour of the EV3G Cruizcore block to avoid this case.

Cruizcore EV3G Block:

The sensor returns a value in the following range: (Pi, 0, -Pi) x 100

Using a calculus in the beginning of the method it is possible to know what quadrant is the angle and later calculate the reference angle to rotate in the range [0,Pi] or [0,-Pi]

For angles > 360, 2Pi, it is possible to use the Modulus to solve the issue.

final double angleToRotate = parameter % 360;

For every angle except 180, the idea is valid. For the angle 180, it is necessary to a State Machine approach.

[jabrena]

It is necessary to create a Private method to calculate the reference angle for Quadrant I, Quadrant II, Quadrant III & Quadrant IV

[jabrena]

The method was tested in several scenarios. It is necessary to review the integration in the logic.