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Unread 05-08-2012, 10:00 PM
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AKA: Andrew Palardy (Most people call me Palardy)
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Re: paper: Killer Bees BuzzXVII 2012 Code

No smooth transition, it's literally just a binary wrapper around a standard CheesyDrive function. The transition happens when abs(throttle) is <0.2 (basically 0).
With the thumb sticks, it's really hard to get a precise throttle that low without hitting the 0.15 low-end deadband, so we don't care about the transition.

If you look at the implementation, HaloDrive does the wrapping and quickTurn switch decision, and CheesyDrive does a standard 254-style Cheesy Drive with a quickTurn switch input. You can use either, we like Halo.
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