[dpick1055]

Your actually making it more complicated then you need to with a lookup table. Using a squaring function and some if statements you can get the curved response you want. Here's the code I used on our robot this year.

        int linput;
	int rinput;
	int loutput;
	int routput;

		if (p1_y < 127)
			{
				linput = 127 - p1_y;
				loutput = 127 - ((linput * linput) / 127);
			}
		if (p1_y >= 127)
			{
				linput = p1_y - 127;
				loutput = ((linput * linput) / 127) + 127;
			}
		
		if (p2_y < 127)
			{
				rinput = 127 - p2_y;
				routput = 127 - ((rinput * rinput) / 127);
			}
		if (p2_y >= 127)
			{
				rinput = p2_y - 127;
				routput = ((rinput * rinput) / 127) + 127;
			}

					pwm15 = 254 - routput;
					pwm13 = loutput;