[DonRotolo]

Testing is a good idea. You might be surprised how that code you wrote actually works.

Anyway, a different idea might be to divide the PWM values by some number when the driver pulls the joystick trigger (for example), or perhaps reduce the PWM values (subtract for over 127, add for under 127) by the difference between left and right joystick values, again maybe divided by some number.

In a different direction, we have traditionally found that drivers don't like anything between their joysticks and the robot. What would be better (in their opinion) would be more driving practice time. Consider: If they were able to drive for 150 hours, they'd be awfully darn good, eh?

In a still 'nuther direction: Use the gyroscope sensor to help the driver make the turn (and drive straight, too): If the driver pulls the trigger (or whatever) the robot makes a 180 degree left turn. Or maybe a 90 degree left turn, and they can do it twice. And, if the left and right joystick values are about equal, the gyro is used to slow the faster side down a hair to make the robot drive perfectly straight.

Just some things to play with.

If you don't have time to implement this for this season, then play with it outside this season, so you know how to do it for next season. For anything complex, the build season is not the time to be learning how to do it for the first time, the time for that is pre-season.

Don