Added comments to TankDrive

DriveBase/src/TankDrive.h

@@ -14,6 +14,11 @@
 
 #include "WPILib.h"
 
+/**
+ * Encapsulates two RobotDrive objects and keeps them synced by sending
+ * identical ArcadeDrive calls to each.  Also handles massaging of Joystick
+ * data to smooth out drive operations.
+ */
 class TankDrive {
 
 public:
@@ -26,6 +31,11 @@ public:
 		delete dt2;
 	}
 
+	/**
+	 * Calls ArcadeDrive on the two RobotDrive objects for the TankDrive.
+	 * Uses #defined DEADZONE_RADIUS to keep the robot from freaking out.
+	 * Some math on the "rot" variable could make the driving smoother, I think.
+	 */
 	void Drive(Joystick *js) {
 		float x = js->GetX(), y = js->GetY(), th = ((1.0 - (js.GetThrottle()))
 				/ 2.0);
@@ -39,7 +49,8 @@ public:
 		}
 
 		float speed = y * th;
-		float rot = y;
+		float rot = x;  // do some math here to smooth out turning?
+
 		dt1.ArcadeDrive(speed, rot, false);
 		dt2.ArcadeDrive(speed, rot, false);
 	}