TrackWidthTuner

This routine determines the effective track width. The procedure works by executing a point turn with a given angle and measuring the difference between that angle and the actual angle (as indicated by an external IMU/gyro, track wheels, or some other localizer).

The quotient given angle / actual angle gives a multiplicative adjustment to the estimated track width (effective track width = estimated track width * given angle / actual angle). The routine repeats this procedure a few times and averages the values for additional accuracy.

Note: a relatively accurate track width estimate is important or else the angular constraints will be thrown off.