Ok, so to be more specific I wonder how the targetOffset works and and what the different values means when you set: targetOffset = scale(data a, data b, data c, data d, cfg.controlAngleLimit);
1. What is targetOffset?
2. How do you get different speeds? I assume by changing data a above?
3. What value should data b, data c, data d and cfg.controlAngleLimit have and why?