[BJC]

I really like this demo, it does a good job of explaining the jist of how "Culver drive" works. I'll leave the magnitude computation change assessing to Andrew.

If you look up at my name you'll see that the second one is "Culver." I just wanted to explain why this is named after me (I'm not egocentric, I promise.) Last summer I picked up a controller to drive the 2012 robot and was very disappointed by my inability to do arcing turns using Cheesy drive. Walking out of Chrysler that evening I explained to Andrew what I would rather have -- point the stick forward and move it around the way you would if you were driving a car with one hand on 12o'clock, keeping the throttle the same. Andrew coded it from there and after we tested it on a robot and liked it we were trying to think of a catchy name for it (WASPdrive was already in development and named at this point.) We couldn't think of anything and Andrew already had it named after me in the code at this point so, much to my displeasure, left it "Culver drive."

In any case, our driver really liked it this year and we'll probably be using it again next year.

Cheers, Bryan