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Share one control loop between straight() and turn(), compensate for battery voltage#104

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SaintSampo wants to merge 3 commits into
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improvedDrivetrainPID
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Share one control loop between straight() and turn(), compensate for battery voltage#104
SaintSampo wants to merge 3 commits into
mainfrom
improvedDrivetrainPID

Tune PID parameters for NanoXRP drive

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