change playback method

src/main.cpp

@@ -117,7 +117,8 @@ void autonomous(void) {
     double pos = strtod(instructions.substr(0, y).c_str(), NULL);
     instructions = instructions.substr(y + 1);
     Controller1.Screen.print(vel);
-    LeftDriveSmart.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
+    LeftDriveSmart.setVelocity(vel, percent);
+    LeftDriveSmart.startSpinTo(pos, degrees);
     
     y = instructions.find(" ", 5);
     vel = strtod(instructions.substr(0, y).c_str(), NULL);
@@ -126,7 +127,8 @@ void autonomous(void) {
     pos = strtod(instructions.substr(0, y).c_str(), NULL);
     instructions = instructions.substr(y + 1);
     Controller1.Screen.print(vel);
-    RightDriveSmart.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
+    RightDriveSmart.setVelocity(vel, percent);
+    RightDriveSmart.startSpinTo(pos, degrees);
 
     y = instructions.find(" ", 5);
     vel = strtod(instructions.substr(0, y).c_str(), NULL);
@@ -149,7 +151,7 @@ void autonomous(void) {
     y = instructions.find(" ", 5);
     pos = strtod(instructions.substr(0, y).c_str(), NULL);
     TiltMotor.rotateTo(pos, degrees, vel, velocityUnits::pct, false);
-    wait(20, msec);
+    wait(10, msec);
   }
   ifs.close();
   STOPCODE_DEBUG();