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Well, I guess Jon beat me to it, but I do actually have some input on the left/right mix up.
If you pass in a joystick to the built in arcade drive method you will have that problem. I'm not entirely sure why, but you can fix it by passing in the y and x axis as speed and rotation, respectively, yourself.
Something like this should work:
speed = joy.GetY()
rot = joy.GetX()
robotDrive.ArcadeDrive (speed, rot)
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