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Originally Posted by Tom Bottiglieri
[Lots of Stuff]
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Thanks for the plain-english explanation Tom. This is a great explanation of how to take generic C++ and make it speak Robot for brand new programmers.
@Rapture If you want to go the trial & error route:
The simplest way for the driver to determine what gain is best suited for the specific style of driving would be to use a throttle or button setup to adjust it on the fly. That way you don't have to re-compile and re-upload code to make adjustments. Or, better yet, the gain could be adjustable from the driver's station.