paper: joystick sensitivity (gain) adjustment

[EricVanWyk]

Originally Posted by Jogo

Out of curiosity, is there anything special about the function x^3+x?

Nope! Pick anything that your drivers are comfortable with.

Selecting a joystick mapping function is one of the best teaching opportunities you have in FRC. There are many right answers, it is open to opinion, it is super easy to prototype, you can objectively compare a bunch of them on a whiteboard, and it answers the questions set forth in this article: http://www.fordham.edu/academics/pro...math/index.asp . That is to say, it might be the first time the students go in the "from problem to math" direction, instead of the "from math to problem" direction.

ax^3+(1-a)x does have a few special properties, see if your students come up with these in their lists of "wants" for their formula:

• The function is smooth
• The 1st derivative is smooth
• It is tunable.
• The gain is low near 0.
• ...and high near 1.
• The gain inflection is always near the middle (.577, per Ether)