Semi-Omni-Arcade Drive

[byteit101]

what would be the average gyro drift for a 2 minute match?
Next meeting we are going to test a basic form of this. I wrote up a basic drive:

PHP Code:

(In Telop, gy is a gyro, drive is a RobotDrive, stick is a Joystick)
double offset=0;
double offset=0;
while (IsOperatorControl())
{
    //(1+cos(pi*x))/2; speed function
    //-xx+2x; turn function, graph these at http://www.walterzorn.com/grapher/grapher_e.htm
    GetWatchdog().Feed();
    float speed=0;
    float turn=0;
    if (stick.GetX()!=0&&stick.GetY()!=0)//UN Preliminary check for are we moving. this might be unnesecary?
    {
        //get the diff in the gyro and joystick, making sure no overflow occurs, and normalizing to 0 to 359
        offset=((int)((int)(stick.GetDirectionDegrees()-(((int)(gy.GetAngle()*360))%360))+360)%360);
        //Detect the location, and change speed/turn multipliers
        switch ((int)(offset/90))
        {
            case 0: //top right
                speed=1;
                turn=1;
                break;
            case 1: //bottom right
                speed=-1;
                turn=1;
                break;
            case 2: //bottom left
                speed=-1;
                turn=-1;
                break;
            case 3: //top left
                speed=1;
                turn=-1;
                break;
            default: //should never occur, print error?
                speed=1;
                turn=1;
                break;
        }
        if (offset>180)//start folding into 90 range
        {
            offset=fabs(offset-360);//escape greedy %
        }
        //bring into normalized values in 0-90 then 0-1
        offset=((int)offset%90)/90;
       
        speed*=((1+cos(Pi*offset))/2)*stick.GetMagnitude();//multiply turn (switch from above) times function, times speed
        turn*=(-(offset*offset)+(2*offset))*offset;//multiply turn (switch from above) times function, times dir
    }
    drive.ArcadeDrive(speed,turn,false);//DRIVE!
    Wait(0.01);                // wait for a motor update time (using victors)
}