How to go about making tankDrive and ArcadeDrive methods

[Ether]

Originally Posted by lineskier

How do you access atan2? Its not included in the stripped down Math util.

See Joe's post.

A perfect arcade drive would map every point within a circle to a set of motor outputs.

The joystick makes a square, not a circle. The algorithms mentioned here map every point in the square to a set of left/right motor outputs.

Using trig you can program for every case using one formula.

You don't need trig to do this.

Same is true for the mecanum drive. By knowing the resulting vector and magnitude you want, you can program a whole mec drive with a couple calculations.

FR = -Y -X -Z

FL = -Y +X +Z

RR = -Y +X -Z

RL = -Y -X +Z

How does trig make the above any easier ?

The code would be a lot cleaner and more efficient, as every point on the circle formed by the joystick would map to a distinct ideal set of motor outputs. (as opposed to using a scaling algorithm.)

How does using trigonometry make the above mec code any "cleaner", or "more efficient"? The above code is kinematically correct, even after normalization.