This is a formula that we've developed to run an X-Drive (optionally field-centric) in c++, that can be translated into Java. Unlike the common X-Drive program that simply combines the control axes, this does not result in attempting to give a motor controller a speed out of its range (e.g. setting a -1 to 1 motor controller to a speed of 1.5).
java
robot
cpp
frc
drive
field
x
centric
x-drive
xdrive
fieldcentric
field-centric
robot-centric
robotcentric
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Updated
Jun 15, 2019 - C++