[notmattlythgoe]

For anybody interested, we turned the 254 negative inertia calculations into a reusable object.

To use it you'll call the constructor with the tune-able scalar value (in 254's case 5).

NegInertiaCalc nic = new NegInetriaCalc(5);

Then call the calculate() method with the new turn value, this will return the calculated turn value.

drivetrain.arcadeDrive(oi.getThrottle(), nic.calculate(oi.getTurn()));

254 has 2 calculations depending if they have their fast turn activated or not. In this case you would just create two calculators with different scalar values.

If you have any questions or comments let me know.