[Thad House]

Because of the way the algorithm works, when there is no throttle applied, no output will be sent to the motors at all, even if the robot is commanded to being turned. What quick turn does is basically turn on the standard arcade drive mode, which allows in place turning. At speed, it will allow taking much sharper turns then would normally be allowed, which is sometimes needed. Cheesy Drive is normally a way to make constant radius turns while at high speed, which is often necessary in order to allow high speed turns. There is also some other trickery in the code involving inertia, to force the robot to turn at speed. I know a fair amount of teams have ported the code, however turned on quickturn when the throttle is at 0. This allows spinning in place without having to press the button.