[Joe Ross]

Originally Posted by lineskier

Here's what I've interpreted so far. The rotate left/right may be flipped.

This is a rather strange convention.
leftMotorSpeed = moveValue - rotateValue;
rightMotorSpeed = Math.max(moveValue, rotateValue);

It's probably trying to make sure the right motor is going faster than the left (i.e. turning left), but regardless this is probably not the ideal way to code this.

That part is a copy of the WPILib arcadeDrive method. You can see how it works here: http://www.chiefdelphi.com/forums/sh...0&postcount=11