[charrisTTI]

Here are the constructor declarations from robotdrive.h:

RobotDrive(UINT32 leftMotorChannel, UINT32 rightMotorChannel, float sensitivity = 0.5);
RobotDrive(UINT32 frontLeftMotorChannel, UINT32 rearLeftMotorChannel,
UINT32 frontRightMotorChannel, UINT32 rearRightMotorChannel, float sensitivity = 0.5);
RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor, float sensitivity = 0.5);
RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor, float sensitivity = 0.5);
RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
SpeedController *frontRightMotor, SpeedController *rearRightMotor,
float sensitivity = 0.5);
RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
SpeedController &frontRightMotor, SpeedController &rearRightMotor,
float sensitivity = 0.5);

This is the comment for the sensitivity parameter.

* @param sensitivity Effectively sets the turning sensitivity (or turn radius for a given value)

In each contstructor, there is a default value for the sensitivity parameter of 0.5.

If you want to use the default value, do not specify any value in that position.

ie:

myrobot.robotdrive(1,2,3,4); // using the default sensitivity of 0.5


If we go the .cpp file we can see how sensitivity is used.

In each of the constructors, the sensitivity parameter is copied to the class member variable m_sensitivity.

m_sensitivity = sensitivity;


The only method which uses m_sensitivity is Drive:

/**
* Drive the motors at "speed" and "curve".
*
* The speed and curve are -1.0 to +1.0 values where 0.0 represents stopped and
* not turning. The algorithm for adding in the direction attempts to provide a constant
* turn radius for differing speeds.
*
* This function sill most likely be used in an autonomous routine.
*
* @param speed The forward component of the speed to send to the motors.
* @param curve The rate of turn, constant for different forward speeds.
*/
void RobotDrive :: Drive(float speed, float curve)
{
float leftSpeed, rightSpeed;

if (curve < 0)
{
float value = log(-curve);
float ratio = (value - m_sensitivity)/(value + m_sensitivity);
if (ratio == 0) ratio =.0000000001;
leftSpeed = speed / ratio;
rightSpeed = speed;
}
else if (curve > 0)
{
float value = log(curve);
float ratio = (value - m_sensitivity)/(value + m_sensitivity);
if (ratio == 0) ratio =.0000000001;
leftSpeed = speed;
rightSpeed = speed / ratio;
}
else
{
leftSpeed = speed;
rightSpeed = speed;
}
SetLeftRightMotorSpeeds(leftSpeed, rightSpeed);
}