Drivetrain speed function does not account for acceleration

[SaintSampo]

Some users expect that when they make a robot drive for a speed over a period of time, the robot will drive an exact distance. Currently it will always undershoot that distance.

It could be worth testing if there is a more intuitive algorithm.

[SaintSampo]

My first Idea for this was instead of regulating measured speed, we could have the function control position based on a target position that advances at a commanded rate. The problem is that if the robot runs into anything, the target position will keep advancing. Fundamentally there is no way to guarantee distance without a blocking control loop like turn() and straight()