hi everyone,
thanks for all ur answers to the swerve program! i think the table i made for inverse tangent was incorrect. also, when i compared and displayed the pot value and the value the pot should be at according to the joystick, printf displays garbage. but when i use it in an equation, it works, so maybe its something with printf, although both variables are signed ints, so it should be ok. anyways, i used the taylor power series expansion to find inverse tangent, and used the difference between pot and where pot should be to find a variable speed of rotation, so the code works. thanks again everyone, and check out mvrt 115 in silicon valley.

rebecca