[Donut]

This drive system is so weird to program. We tried it with a normal robot this year, but didn't have enough time to finish. If you write your own code for finding the magnitude and direction of the joystick, avoid using arctan and square root functions at all costs (or make your own versions of them). We wrote our own square root function, but found out a little too late that an arctan2() call chews up 12% of your code space.