[lukevanoort]

(This is in regard to the post above mine, which I will not quote, for space considerations)

We do essentially the same thing, the only differences are, we use a slightly different equation, and our lookup table uses unsigned chars instead of short ints (although, in theory both should work, unsigned chars just take up less space). However, instead of just using ours for only our drive system, ours is used for every single joystick controlled movement on our robot. We have found that this greatly increases usability and driveability of our robot and its mechaisms by allowing fine control when necessary (like positioning the wrist for a ringer) and fast control when you need the speed (like driving across the field to a ringer). I would highly recommend at least trying exponential lookup tables, you may be amazed by the improvement such a small change can make.