West Coast Drive Code

[Ether]

Originally Posted by F22Rapture

Would something like this be correct?

...

Run the code and create a contour map. Then carefully study the contour map to see if it's what you want.

@ Ether what are the benefits of your method vs Tom's?

I haven't yet coded up Tom's method and made a contour map, so I can't say for sure. But the method I posted requires no clipping or normalization of the wheel speeds, because they are guaranteed to be within the range -1 to +1 (as long as the tuning constants "a" and "b" are kept in the ranges indicated). The left and right wheel speeds are linearly interpolated all the way out to +/-1 in the Y and X joystick directions.

I have pseudocode that takes that a step further and does throttle-dependent nonlinear interpolation of the wheel speeds, but that seems like overkill. However if there's any interest I'll post that too.

What would that code look like in Java?

I'm not sure what you mean. It would look the same, only using Java syntax and semantics.