Quote:
Originally Posted by apalrd
The "Cheesy Drive" is 254's arcade drive which uses "quick turn" and "speed turn" algorithms to find a much better solution than a standard arcade drive:
-When in quick turn, the output is a standard arcade drive -> Left = throttle + wheel, right = throttle - wheel
-When in speed turn mode, left = throttle + (wheel * throttle * gain) and right = throttle + (wheel * throttle * gain), so it handles speed adjustments properly.
-Quick Turn is only used when throttle is at or near 0, so you can turn without applying forward power.
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This table might be of interest.
The first column is for the simple L=Y+X, R=Y-X with normalization. The second column is the same as the first except it uses clipping instead of normalization. The third column is a slightly (very slightly) more complicated algorithm which I believe gives the same results as what you get from the WPI library (and may indeed even be mathematically identical... I haven't checked).