paper: FRC #33 The Killer Bees 2013 Software - BuzzXVIII (Buzz18)

[apalrd]

The alternate vs normal raw mode is interesting. It was our method of removing the 'quick turn' switch, but we decided we liked the switch better.

In any case, the Radius component should be active from 0 to 90 degrees, plus a little for driver forgiveness. R allows us to return to 0 when the stick is centered, and the math works out such that you can drive it like a halo/cheesy drive if you want (although that's not quite ideal, the math works out the same). I am aware that above 90 slightly more turning power is possible, but I didn't really care. I also probably mistyped the radians to degrees, I actually used 180/Pi in the LV implementation and didn't precalculate it.

The initial ('alternate') raw implementation was designed to provide 'quick turn' functionality (steering without throttle for turn-in-place moves) by allowing the driver to move the stick in a fairly binary way around the bottom of the stick bounds (near +-180). It did not use theta at all (except for the enablement curves). We did not like this behavior, and decided to use the 'quick turn' button to switch.

It's interesting to see some SW design choices you made in your implementation.