From 2f010032da695f31973a97257f8011d819ac951d Mon Sep 17 00:00:00 2001
From: Aidan Ferguson <aidanlferguson@gmail.com>
Date: Mon, 22 Feb 2016 21:19:51 -0500
Subject: [PATCH] untested tweaks: different TURN_FACTOR, buttons  toggle
 between piecewise and arcade drive

---
 Robot2016/src/Robot.cpp | 30 +++++++++++++++++++++++-------
 1 file changed, 23 insertions(+), 7 deletions(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index e656fd4..0fb82ac 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -14,7 +14,7 @@
 								// affecting the robot.  Use this for cleaning up drive train and shooter.
 								// Also used for detecting changes in an axis' value.
 
-#define TURN_FACTOR 1.5			// Left(x,y)  = y*(1 + TF*x)  :  x < 0
+#define TURN_FACTOR 0.5			// Left(x,y)  = y*(1 + TF*x)  :  x < 0
 								// 			  = y 			  :  x >= 0
 								// Right(x,y) = y			  :  x < 0
 								// 			  = y*(1 - TF*x)  :  x >= 0
@@ -52,6 +52,7 @@ private:
 	bool ramping;
 	bool shooting;
 	bool unjamming;
+	bool arcade;
 	float shooter_power;
 
 	LiveWindow *lw = LiveWindow::GetInstance();
@@ -119,16 +120,31 @@ private:
 
 	void TeleopPeriodic()
 	{
-		if (driver_stick.GetRawButton(THUMB))
+		if(driver_stick.GetRawButton(7))
 		{
-			float left = driver_stick.GetTwist();
-			float right = -driver_stick.GetTwist();
-
-			drive.TankDrive(left, right);
+			arcade = true;
+		}
+		if(driver_stick.GetRawButton(8))
+		{
+			arcade = false;
+		}
+		if (arcade)
+		{
+			drive.ArcadeDrive(driver_stick);
 		}
 		else
 		{
-			UpdateDrive();
+			if (driver_stick.GetRawButton(THUMB))
+			{
+				float left = driver_stick.GetTwist();
+				float right = -driver_stick.GetTwist();
+
+				drive.TankDrive(left, right);
+			}
+			else
+			{
+				UpdateDrive();
+			}
 		}
 		//bool rampDoing = false;
 		//  This is shit code for testing.  Replace it with real code.