[JamesCH95]

Originally Posted by AWoL

Eh, close enough. The effect is the same. My code actually has more to do with scaling the speed by the amount of joystick input on the x axis.




Funny that you say that as I think that we probably have the some of the most time for driver practice, and we also put a lot of effort into it, building a full practice field and trying to simulate the most realistic practice matches possible. We end up having about four weeks of practice with our practice bot after the end of build season.

Now my actual reasoning behind that was when we were practicing, I was having trouble smoothly executing omni-drive-esque/swerve-drive-esque maneuvers (with both field centric and robot centric control) with the robot moving at different speeds when moving on different angles.



Well we geared them exactly for the strafing speed we wanted, so we do attain full output through the motors when moving laterally. As for the actual driving reasoning...see my comments above.

Thank you for the reply. I don't agree with your reasoning (I wouldn't want to do that on one of our robots), but I understand it.