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Jnadke is right, there is a very noticable change in the power on the drills, enought that without this:
IF ( (HighGear=1) AND ( ChipDriveLeft > 127 )) THEN 'When in High and driving forward reduce Left Drill Power
DrillDriveLeft=127+(((ChipDriveLeft-127) *9)/10) MIN 127 MAX 254
ELSE
DrillDriveLeft=ChipDriveLeft
ENDIF
IF ( (HighGear=1) AND ( 127 > ChipDriveRight )) THEN 'When in High and driving reverse reduce Right Drill Power
DrillDriveRight=127-(((127-ChipDriveRight) *9)/10) MIN 0 MAX 127
ELSE
DrillDriveRight=ChipDriveRight
ENDIF
Our robot wouldn't track straight, next year we will try to make left @ right trun the same direction to get max power out without software limiting.
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Robonaut Next Generation Control System Development
2003 GLR Champions (302,67,226)
2003 Buckeye Semi-Finalists(902,494,226)
2002 Nationals QuarterFinalists
2001 West MI QuarterFinalists
2000 GLR Semi-Finalists
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...regardless of anything that happens, there should be no booing at competitions, only cheers. True, many of us want to win, but in the end, all of us are working to expand FIRST and to promote the inspiration and recognition of science and technology through gracious professionalism. - Aignam [more] 
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