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RootRework: General Refactor and Rewrite #106

@MoffKalast

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@MoffKalast

After #103 is done and we've got move_smooth to work on, we should do a general rewrite of the node to clean up the code and sort out or at least somewhat address the following issues and add required features:

  • reducing fishtailing
  • running away from/missing goals
  • implementing a 2D PID system

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