Ah, where was I? Ah yes...
This is the equation for a drive axis not being driven along its drive axis.
drive_towards_FL = int(tan(45 - tan^(-1)((127 - true_robot_x)/(true_robot_y))) * drive_towards_FR) + 127
or if the FR axis is not being driven along:
drive_towards_FR = int(tan(45 - tan^(-1)((true_robot_x - 127)/(true_robot_y))) * drive_towards_FL) + 127
Isn't that just so fun?!?! Ahh... sadly though, as I understand it, the CPU is really slow at doing this sort of math, so I guess this would have to be converted into look-up tables. Oi. Oh well. That's the extent of my inspiration. Hope you can decipher what I was saying, because I would really like to know...
