[Goldeye]

Originally Posted by Alan Anderson

Direct mapping of joystick to motor is the easiest and most intuitive way to use two joysticks to control two motors. This year's TechnoKat robot does it the long way around, though, taking the average of the two sticks to control an internal "velocity" value, with the sticks' difference becoming a "turn" value. It essentially computes the equivalent of a single joystick. The output code remixes the velocity and turn values into two motor control numbers.

Why not just use one joystick at that point?
I personally like how with 2 joystick drive, you know how the bot will turn (with a bit of practice). How does your modified two-joystick really offer any advantage over two-joystick (other than the easier straight values)

As for the autonomous mode, you're not reading the pwms...so how does this make a difference in the end? (compared to using the standard one-joystick drive code)