[x86_4819]

In FRC-2015/src/com/team254/frc2015/CheesyDriveHelper.java

        if (isHighGear) {
            wheelNonLinearity = 0.6;
            // Apply a sin function that's scaled to make it feel better.
            wheel = Math.sin(Math.PI / 2.0 * wheelNonLinearity * wheel)
                    / Math.sin(Math.PI / 2.0 * wheelNonLinearity);
            wheel = Math.sin(Math.PI / 2.0 * wheelNonLinearity * wheel)
                    / Math.sin(Math.PI / 2.0 * wheelNonLinearity);
        } else {
            wheelNonLinearity = 0.5;
            // Apply a sin function that's scaled to make it feel better.
            wheel = Math.sin(Math.PI / 2.0 * wheelNonLinearity * wheel)
                    / Math.sin(Math.PI / 2.0 * wheelNonLinearity);
            wheel = Math.sin(Math.PI / 2.0 * wheelNonLinearity * wheel)
                    / Math.sin(Math.PI / 2.0 * wheelNonLinearity);
            wheel = Math.sin(Math.PI / 2.0 * wheelNonLinearity * wheel)
                    / Math.sin(Math.PI / 2.0 * wheelNonLinearity);
        }

What led you to use sin functions like this to scale your steering? Was it just trial-and-error, or was there some method to it?

Also, in the same code file, could you explain what you do with "negative inertia" better?