From 5153aaa161ebf407abf7fff7ef63b07e080d09c2 Mon Sep 17 00:00:00 2001
From: Jason Cox <jason@dublinschool.org>
Date: Sun, 21 Feb 2016 20:50:24 -0500
Subject: [PATCH] Added a defined TURN_FACTOR for easily testing variations of
 the SimpleDrive method

---
 Robot2016/src/Robot.cpp | 28 +++++++++++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

diff --git a/Robot2016/src/Robot.cpp b/Robot2016/src/Robot.cpp
index ac53015..e656fd4 100644
--- a/Robot2016/src/Robot.cpp
+++ b/Robot2016/src/Robot.cpp
@@ -10,10 +10,15 @@
 #define RAMP_LOWER  4	// Button 4 to lower ramp.
 #define UNJAM		11
 
-#define DEADZONE_RADIUS 0.01 	// Deadzone Radius prevents tiny twitches in the joystick's value from
+#define DEADZONE_RADIUS 0.05 	// Deadzone Radius prevents tiny twitches in the joystick's value from
 								// 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
+								// 			  = y 			  :  x >= 0
+								// Right(x,y) = y			  :  x < 0
+								// 			  = y*(1 - TF*x)  :  x >= 0
+
 #endif  // BUTTON_LAYOUT
 
 class Robot: public IterativeRobot
@@ -246,6 +251,27 @@ private:
 		lw->Run();
 	}
 
+	void SimpleDrive()
+	{
+		float x = -driver_stick.GetX();
+		float y = -driver_stick.GetY();
+		float left = 0;
+		float right = 0;
+
+		if (x > 0)
+		{
+			right = y;
+			left = (1- x*TURN_FACTOR)*y ;
+		}
+		else
+		{
+			left = y;
+			right = (1+x*TURN_FACTOR)*y;
+		}
+
+		drive.TankDrive(left, right);
+	}
+
 	void UpdateDrive()
 	{
 		float x = -driver_stick.GetX();