How to go about making tankDrive and ArcadeDrive methods

[Jared Russell]

When doing these sorts of problems, I like to make a table. What are my inputs? (Joystick positions). What are my outputs? (Motor PWM values). What are the "points" for which I have well behavior (for example, when your sticks aren't being touched you probably want to set your motors to 0 speed)?

Once you have this data down in front of you, the relationship between inputs and outputs can be analyzed and you can derive mathematical functions relating them.