[matthewdenny]

Mr. Giggums

Thanks for taking a look. I went back to my sheet and found 3 errors. First I had switch wheels 3 & 4 on the layout diagram. Second I had weighted both the X and Y components of rotation at 1.0 which gives a total resultant of 1.41 which makes the vector from rotation too heavily factored into the overall resultant. I corrected that and the weighting to .707.

I also found the problem with scaling. Turns out that I was scaling the numbers so max motor value was 1.0. I changed it so it only scales if a motor value is >1 now.

Thanks for checking it for me. It seems to correlate pretty well to Ethers numbers now.

I'll attach a new version with corrections for anyone whose interested.