From 23ae387dd5b771d3771e3dc09a788a413aa4f884 Mon Sep 17 00:00:00 2001
From: Brendan <brendan.haines@gmail.com>
Date: Sat, 16 May 2015 19:56:16 -0600
Subject: [PATCH] adds aileron/elevator scalability

---
 src/Robot.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/Robot.cpp b/src/Robot.cpp
index 7c2d7f8..001e0fd 100644
--- a/src/Robot.cpp
+++ b/src/Robot.cpp
@@ -8,6 +8,8 @@
 // Tuning Parameters
 #define throScale	1
 #define ruddScale   1
+#define aileScale	2
+#define elevScale	1
 
 // Wiring Parameters
 #define frontLeftChannel	4
@@ -86,7 +88,7 @@ public:
 		double rudd = InterLink->getRudd();
 		SmartDashboard::PutNumber( "Rudder", rudd );
 
-		double driveAngle = atan2( -aile, elev );
+		double driveAngle = atan2( -aile*aileScale, elev*elevScale );
 		SmartDashboard::PutNumber( "Drive Angle", driveAngle );
 
 		double driveSpeed = sqrt( aile*aile + elev*elev );