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The best person to contact would be the guy that wrote the program. That person is Adam, the guy who you got the video froms website. I don't know all the details, however I can tell you this. It is very simple. Adam had tried to work on a program and it ended up being huge. By using the joysticks in the manner we did, we were able to cut the program down greatly.
Adam please correct me if I am wrong:
By simply placing the joysticks 120 degrees apart, the joysticks do all the math. They know to drive two of the motors at 100% and the other one at 0 percent, to go in a straight line, assuming the 0 percent wheel is perpendicular to the path of motion. We do this by making the x axis mean nothing and the y axis mean everything. I wish I had a picture to try and explain better, but I am sure Adam will/can.
Sorry if I confused you even more :-)
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