[JesseK]

I like that halo idea. Things seem more intuitive and less pressure if you can train each hand to do a different task.

Here are some arguments to try single-joystick driving instead of classical tank drive. Keep in mind this is just my opinion. I also have a control systems background so I feel it's easier and more advantageous to do a system rather than leave some things up to driver control.

Personally, I think classical "tank" drive puts too much of the drive processing on the driver, and agree with the OP that it's harder to control. Movements aren't as smooth as they could be and it's hard to process inputs for improvements in the code. Driving backwards and driving while the bot is pointed at the driver also becomes harder without alot of practice. Think about a bunch of cones setup on the track and you have to slalom through them while also making the left-hand turns around the track. Without alot of practice, tank drives will usually make it through such a course slower/quirkier than the single-joystick setup. This year, the slalom consists of 5 other dynamically placed bots and 3 other trackballs on the field, so I believe this comparison is valid.

With a single joystick, in code I can create a system that has some variables (aka coefficients). Based upon the variables I can determine different integral-based rotational neutral zones, scale within certain regions of joystick movement, how the robot reacts based upon its direction, and can eliminate jerky joystick movements that translate to jerky bot movements for both rotation and lateral at the same time. For tank drive, doing all of these things requires at least twice the code so you can determine a rotation vector, where as single-joystick drive rotation is a direct input. Some of this stuff isn't easy to do, and sometimes isn't even necessary depending on the way the driver naturally drives.

Some drivers can intuitively drive without all of the fancy code. Yet imagine how much more they could concentrate on game strategy if they didn't have to focus so much on the drive itself. Just my .02.