[Roger]

Oh dear, I'm way behind, aren't I? We were using the original y = a(x^3) + (1-a)x formula. That "2parm" looks interesting for Monday's programming session.

I think we might be running out of joystick buttons. We've got 2 buttons already for switching gear speed up and down -- yet another parameter in the mix, as "Full cubic" in first gear is really slow.

Another thing I might mention is that we are changing only the "forward/backward" axis of the joystick, and the "left/right" axis is not being changed. (The robot is a standard drive left/right sides.) General thought of the group is that this gives full turning power always.