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Originally Posted by Joe Ross
gwross and I experimented with a bunch of different single stick algorithms in 1998, trying to correct the problem that you described. We never found a solution we were completely happy with though. It's not as simple as checking if you are going back and reversing the directions as that creates a spike as the motors suddenly change directions as you cross the axis.
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One solution that we use is an Head/Tail switch or trigger.
The operator or better yet the driver, pulls a trigger, and the robot head becomes the tail and the tail becomes the head. (front > back, back > front)
Hit the switch again and it switches again.
We also had a toggle for one-stick > two-stick and back.