Driver Joystick Scaling

[schreiaj]

Implement scaling on the Driver Joysticks for cheesydrive. Reference scaling function from 79 below, steal if you want. These values will have to be tweaked based on driver prefs.

public static double mapJoystickToPowerOutput(double input)
    {
        if(Math.abs(input) < 0.05)
        {
                // Stop if joystick is near zero
                return 0.0;
        }
        else
        {
            double mapping;

            if(Math.abs(input) <= 0.75)
            {
                    mapping = 0.95 * ((0.5 * MathUtils.pow(Math.abs(input), 2.0)) + 0.2);
                    mapping = (input >= 0) ? mapping : -mapping; // Change to negative if the input was negative
                    return mapping;
            }
            else
            {
                    mapping = 2.16 * Math.abs(input) - 1.16;
                    mapping = (input >= 0) ? mapping : -mapping; // Change to negative if the input was negative
                    return mapping;
            }
        }
    }