# Turn Configuration Simplification

## Changes Made

The turn calibration system has been simplified to use **auto-calculation only** with separate compensation values for 90° and 180° turns.

### Removed Parameters
- `USE_MANUAL_TURN_TICKS` - Manual/auto mode flag (no longer needed)
- `MANUAL_TICKS_90` - Manual tick value (no longer needed)
- `TURN_COMPENSATION` - Generic compensation (replaced with specific values)
- `CALCULATED_TICKS_90` - Intermediate calculation (now inline)

### New Parameters (config.h)

```c
#define TURN_90_COMPENSATION 25.0f   // Extra ticks for 90° turns
#define TURN_180_COMPENSATION 40.0f  // Extra ticks for 180° turns
```

Both turns now use **automatic calculation** based on wheel dimensions:
- **90° turns**: `(π × WHEELBASE / 4) / (π × WHEEL_DIAMETER) × TICKS_PER_REV + TURN_90_COMPENSATION`
- **180° turns**: `(π × WHEELBASE / 2) / (π × WHEEL_DIAMETER) × TICKS_PER_REV + TURN_180_COMPENSATION`

## How to Calibrate

### Method 1: Test Both Angles Independently

1. **Upload the code** and place robot on open floor
2. **Test 90° turns** via serial commands:
   ```
   L → turn left 90°
   R → turn right 90°
   ```
   - If under-rotates (< 90°): **Increase** `TURN_90_COMPENSATION` by 5
   - If over-rotates (> 90°): **Decrease** `TURN_90_COMPENSATION` by 5
   
3. **Test 180° turn** via serial command:
   ```
   U → turn around 180°
   ```
   - If under-rotates (< 180°): **Increase** `TURN_180_COMPENSATION` by 10
   - If over-rotates (> 180°): **Decrease** `TURN_180_COMPENSATION` by 10

4. **Repeat** until both angles are accurate

### Method 2: Mark Floor and Measure

1. **Mark starting orientation** on floor with tape
2. Execute **10 consecutive 90° turns** and check if robot returns to start
3. Execute **5 consecutive 180° turns** and check if robot returns to start
4. Adjust compensations based on accumulated error

## Typical Values

| Robot Configuration | TURN_90_COMPENSATION | TURN_180_COMPENSATION |
|--------------------|---------------------|----------------------|
| Light robot, smooth floor | 15.0f - 20.0f | 30.0f - 35.0f |
| Medium robot (current) | 20.0f - 30.0f | 35.0f - 45.0f |
| Heavy robot, rough floor | 30.0f - 40.0f | 50.0f - 65.0f |

## Code Impact

### config.h
- Cleaner, easier to understand
- Only two tuning parameters instead of five
- Clear comments explain what each does

### main.c
- `turn_left_90()` uses `TICKS_90_DEGREE`
- `turn_right_90()` uses `TICKS_90_DEGREE`
- `turn_around_180()` uses `TICKS_180_DEGREE` (now pre-calculated)

## Advantages

✅ **Simpler**: Only two parameters to tune
✅ **Independent**: 90° and 180° don't affect each other
✅ **Intuitive**: Direct compensation values in ticks
✅ **Maintainable**: Less code, clearer purpose
✅ **Flexible**: Easy to adjust for different surfaces

## Compilation Result

```
Program: 12,118 bytes (37.0% Flash)
Data:     1,840 bytes (89.8% RAM)
```

No size change from previous version - simplified logic with same efficiency.