[Greg McKaskle]

I think the orange constants you are referring to are wired to the Joystick input parameters.

Arcade and tank are closely related, but let you describe the desired movement with differently encoded parameters. Arcade lets you think use the X and Y displacement to specify how much to turn and how fast and which direction to drive. Tank uses two Y's. Arcade comes from arcade game input, and tank from bulldozer or tank driving systems.

Pick whichever makes sense to you, and you can even switch back and forth, but that may lead to mistakes in reading the code if someone doesn't expect it.

The best advice I have is to imagine you want to drive the auto yourself, or you are watching the driver perform the maneuver. Then write code that mimics the (input value, time) pattern. So if the driver only pushes the stick forward half-way, don't use -1, but use -0.5. If the driver holds the stick forward for 1.5 seconds, that is how long the code delays before the next input.

Greg McKaskle