[vps]

I wanted Can Motor controllers but we ended up using regular one. I was going to use the setVoltageRampRate function, because we are top heavy, but I had to create something else. The acceleration curve by Math.pow(val, x) wasn't good enough for us, where x is an int. Why? because if the joystick slips, we don't want the robot to rapidly accelerate. So, what I do is that I read the "ReachVal" from the joystick, then, read the "CurrentVal" from what I set to the CIMs (CurrentVal is initialized to 0). Then, I take the difference, divide that by 7500 (trial and error lead me to this constant), add that to "CurrentVal", in my drive thread. This results in a smooth drive and we don't topple over even though we are quite top heavy.

Hope that helps!