[jweric]

Their is a problem with that. If I cant do an Inverse trig function, I cannot find the angle.

You see, this is going to used in our drive system this year. The way our drive system works this year is you point the joystick any direction you want and it will go in that direction. The problem I am having is that when I reach certain values (mainly by the corners) you would overflow the PWMs and would cause the motors to go in the wrong direction. I would provide a drawing of this but they are at my school, and unreachable.

But the formula I would be using for one of the pwms is:

PWM = p1_y - sin(1.4172 * p1_x - 127)


Their is a way to do it with mutiple formulas but that will take a lot of programing and I am only one person that does the programing. Not to mention I do the 3ds MAX and Designing. I just dont have that kind of time to need to figure out all the equations for all four PWMs. With this route I only need 2.


If you want this diagram then I can post it tomorrow.

P. S. - I did a google search and I turned up one that required multiple other header files which wernt provided.