How best to build a function that precisely turns my robot to a specific heading relative to the original 0?

[TheWanderingShadow]

Currently I use:

def yaw_angle_turn(angle):
    if angle > hub.imu.heading():
             while hub.imu.heading() < angle:
                   drive_base.drive(50,90)
       else:
             while hub.imu.heading() > angle:
                   drive_base.drive(50,-90)
  drive_base.stop()

but sometimes it skips past my target angle.

[dlech]

You can use use_gyro to automatically use the gyro in drive base operation.

Then you can use turn to turn in place or curve to drive along a curve to a specific angle.

[TheWanderingShadow]

This makes it turn relative to the angle at the time of the function being run, does it not? As an example of what I'm looking for, if I had the robot that initially faced north turn 45 degrees, then told it to turn to a heading of 90, I want it to turn an additional 45 degrees until it faces east.

[dlech]

You can use hub.imu.heading() to find the current heading and subtract that from the desired heading to get the angle you need to turn.