paper: Killer Bees BuzzXVI Code and Auto Scripting

[apalrd]

Are you looking through the drive-straight autonomous functions?
Those are quite complicated.

The 5.43 is the max speed in low gear

The algorithm work like this:
-We calculate a proportional term to drive straight
-We apply it using the arc drive code which proportionally applies the term based on the output forward speed (which is in ft/sec)
-If the speed drops below a threshold, we latch the p term because the algorithm is unreliable while we slow down or speed up.

Clarification on wheel:
-We've been looking at various HMI's, and in many arcade and halo drives, a throttle stick and steering wheel are traditionally used, leading us to refer to inputs to an arcade drive as 'throttle' and 'wheel', even in the absence of an actual steering wheel