[Ether]

Originally Posted by 414cnewq

How would I implement a command to have a toggle button (i.e. the joystick button) to set the robot in reverse (press button once, in reverse, press button again, back to moving forward)?

You need to toggle the direction only when the "rising edge" of the button is detected.

Here's some C pseudo_code:

button_now = get_button(); // get the button state (pressed or not pressed)

if (button_now && ! button_previous) // detect rising edge only

{forward = ! forward;} // if rising edge, toggle the direction boolean

button_previous = button_now; // save the button state for comparison in the next iteration

... then use the "forward" boolean to determine whether to command forward or reverse.