[Mark McLeod]

The y value tells Arcade to move forward at half speed while the x tells it how much to turn (quarter speed) and in what direction (left or right), so the robot will move forward in an arc as it turns. To turn in place, make y=0.

To overcome the mass and friction of the robot it takes a little bit of the low-end power, so maybe 20% (.2) of the forward power will simply get the robot moving slightly (depends on the robot).

To turn the opposite way leave y alone and make x negative, i.e., x=-0.25

Make y negative to backup while turning.


If you use Tank Drive instead of Arcade, then you might reverse the two inputs to get the opposite effect, but the inputs would typically represent two y joysticks, rather than the single joystick of Arcade. In autonomous of course there are no joysticks, but many people still like to think of it as if a driver were controlling the robot.