Yea theta2 without turning , using a boost
and then theta3 without turning , with an arc from theta2
ex:
An arc:
.............................................
.....o.o.o................................ ------> starting from 0 degree theta2
..............o..o...........................
......................o.o......................
.............................o....................
................................o..................
..................................\
......................................\
.......................................> 45 degree down , right theta3
robot fasing ^ 270 degree (up) does not turn'
during the arc move the speed is 5pixels/sec , when it completes the arc and travels theta3 the speed exselarates to 20pixels/sec (slowly 5,7,10,15,20)