This was our first complicated program. We had a lot of trouble with this challenge and mostly because we were not doing the right challenge. We had thought that we needed to combing the bang bang straightness and the bang bang control so the program that we were trying to do was rather complicated.
However, we did eventually figure out that the program was for bang bang distance and was relatively simple. So this is what we ended up with. The distance was always pretty good but it would always overshoot or undershoot by a little bit.
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