3 - Driver Control

VantagePath owns autonomous calculations, not joystick shaping. Driver control should cancel the follower and write the drivetrain directly.

Arcade mixing

void arcade(double forward, double turn, double maxVolts = 12.0) {
  follower.cancel();

  double left = forward + turn;
  double right = forward - turn;
  const double peak = std::max({1.0, std::abs(left), std::abs(right)});

  left /= peak;
  right /= peak;
  writeDriveVolts(left * maxVolts, right * maxVolts);
}

Inputs are normalized to [-1, 1]. Scaling both sides by the same value preserves requested curvature when combined throttle and turn would saturate.

PROS opcontrol loop

void opcontrol() {
  while (true) {
    const double forward =
        master.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) / 127.0;
    const double turn =
        master.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X) / 127.0;

    arcade(forward, turn);
    pros::delay(10);
  }
}

Add a deadband

double deadband(double value, double threshold = 0.05) {
  if (std::abs(value) <= threshold) return 0.0;
  return std::copysign(
      (std::abs(value) - threshold) / (1.0 - threshold), value);
}

Apply the deadband before arcade. Keep autonomous wheel control linear; do not apply joystick curves to follower voltage.

Continue to 4 - Characterization & Tuning.