Target tracking/centering converted to tank drive: help?

[Mark McLeod]

You didn't actually have to convert the self-centering code to Tank Drive.

You can mix the two driving modes as long as you are using Tank Mode in every place you expect the drivers to have direct control of the drive motors.

If the robot is driving on it's own, e.g., self-centering or Autonomous, then you don't really care which method (Tank vs Arcade) is currently active.

In any case, to convert Arcade-style inputs to Tank-style...
Arcade is speed and rotation, so you want to convert the rotation to a differential between the two tank sides then apply speed, keeping everything in proportion.

[RoboMaster]

I think I see where you're going with not having to convert, meaning that you just control the drive with the Arcade Drive VI when you are driving it autonomously. We would have to switch out some stuff in the code since we are controlling it manually with Motor Set Speed VIs (long story on why we wouldn't use the Tank Drive VI), but I don't think it would be that bad.

With actually converting it, there is no speed because the centering VI always sends out 0 for Y. So it's a simple matter of running the two sides of the drive train at the speed it sends out for X. You just have to negate one to run it backwards, which I reasoned to be the right side one. So why did it still not work?