[jalburty]

Pardon my ignorance (or misreading of the post), but how do you get away with calling the TankDrive function (method?) with what looks like different data types as parameters? Is this what's known in C++ speak as "polymorphism"?

R_myRobot.TankDrive(J_stick1, J_stick2);
vs
R_myRobot.TankDrive(J_stick1->GetY() * 0.25, J_stick2->GetY() * 0.25);