For those of you interested, I've posted a scaled holonomic drive library on VEX Forums
here. The features of this library:
-squarejoy() - A function which will perform squaring on a PWM value (still has a range of about 0-255, one or two points less).
-charabs() - Perform an absolute value function with 127 as center instead of 0.
-holodrive() - Function for holonomic driving that can be used portably.
-Scaled - you can always reach full value of the motor speeds, but scaling maintains maneuverability. When a motor goes out of range, it scales all of the motors down to the wheel that is most out of range.
-Documented code! - I've tried to comment everything as much as possible so you can tell what's going on. Not to mention the description on the VEX Forum page.
Anyone is free to use this code, and ask me questions about it. As for use with EasyC, I'm not quite sure about using actual code in !EasyCPro. All of this was done with WPILib under MPLAB. But maybe someone here could transform the header and .c file I loaded into EasyC project files? I'm not sure if you can just include source code files in an EasyC project, but if you can, that should work too.
For me, this is the most powerful message of FIRST, that people can come together and work together to achieve so much, and leave old rivalries, grudges, and hard feelings behind. When people talk about culture change, this is what I hope for. - Aren Siekmeier [more] 
03-09-2009, 22:39
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