double rcw = pJoystick->GetTwist(); double forwrd = pJoystick->GetY() * -1; /* Invert stick Y axis */ double strafe = pJoystick->GetX(); float pi = 3.1415926; /* Adjust Joystick X/Y inputs by navX MXP yaw angle */ double gyro_degrees = ahrs->GetYaw(); float gyro_radians...