Differential drive from Joystick

Other Hardware Robotics
1

Hi.
Please forgive me as its my first post here.. Not asking for help :slight_smile:
I have been working on getting a Differential drive for my project. Lots of snippets of code around but not what I wanted for my project.

/* With a little help from :-
  http://home.kendra.com/mauser/joystick.html
  http://forum.arduino.cc/index.php?topic=114063.0
  Gives me 100% forward speed and 50% revirse speed.
  1.Get X and Y from the Joystick, do whatever scaling and calibrating you need to do based on your hardware.
  2.Invert X
  3.Calculate R+L (Call it V): V =(100-ABS(X)) * (Y/100) + Y
  4.Calculate R-L (Call it W): W= (100-ABS(Y)) * (X/100) + X
  5.Calculate R: R = (V+W) /2
  6.Calculate L: L= (V-W)/2
  7.Do any scaling on R and L your hardware may require.
  8.Send those values to your Robot.
  9.Go back to 1.
*/

int Deadzone = 4;
int coordX = 0;                  // variable to read the value from the analog pin 0
int coordY = 0;                  // variable to read the value from the analog pin 1
void setup()
{
  Serial.begin(9600);
}
void loop() {
  coordY = analogRead(2);   //cordY min = 7, Mid = 519,  Max = 1018
  coordX = analogRead(3);     //cordX Min = 3, Mid = 522,  Max = 1020

  int coordXmapped = map(coordX, 0, 1023, 100, -100); //maps from 0-1023 POT range to -100 - 100 range of formula
  int coordYmapped = map(coordY, 0, 1023, 100, -100); //maps from 0-1023 POT range to -100 - 100 range of formula
  int coordXinvert = (coordXmapped * -1);
  int v = ((100 - abs(coordXinvert)) * (coordYmapped / 100) + coordYmapped);
  int w = ((100 - abs(coordYmapped)) * (coordXinvert / 100) + coordXinvert);
  int rightwheel = ((w - v) / 1);
  int leftwheel = ((v + w) / 1);



  int Left_motor = abs(leftwheel) < Deadzone ? 0 : leftwheel;      // add dead zone from Joystick
  int Right_motor = abs(rightwheel) < Deadzone ? 0 : rightwheel;     //  add dead zone from Joystick
  

}

Well Iv'e managed to insert my code in the correct manner.
As im'e new to the Arduino I would like to be told what right and what's NOT right.
Hope someone finds my work usefull.

Regards Antony.