hi.
Im using voice attack myself (due to injury).
So fare Ive managed to control total 180 degrees turn using manual sailing, changeing yards each 45 degrees turn for a Naval brig.
This is a save of 10 seconds thowards an autoskipper for a 180deg turn ,start wind from NE,turning away from wind (left and startspeed 5knots (max sails up).
Im setting the QE and ZC by measuring full time and half time it takes to set positons of yards which is 5 seconds from 0 to max for the naval brig.
I will make single commands using wind from 8 directions in step of 45 degs, (0-45-90.....). Asuming max sails up. and thereafter put them together according to from where tthe wind arrives.
When steady coarse is wanted, the turning is interrupted, autoskipper enabled and rudder neutralized, with another command.
Example of command: Starboard135, meaning turn starboard, present wind direction from 135 degrees (SE).
I lack the max speed regarding 7 wind directions to make (and thereby measure or calculate the time it takes to turn 45 degs from each wind direction.
Heres a link that may show some manouvres and commands (voice) to use, if u dont allready have them
https://www.youtube.com/watch?v=v6DZIvMZWzQ
Wish You fair winds
regards