Merge "Updated C++ documentation"

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java

@@ -181,17 +181,24 @@ public class RobotDrive implements MotorSafety {
   }
 
   /**
-   * Drive the motors at "speed" and "curve".
+   * Drive the motors at "outputMagnitude" and "curve".
+   * Both outputMagnitude and curve are -1.0 to +1.0 values, where 0.0
+   * represents stopped and not turning. curve < 0 will turn left and curve > 0
+   * will turn right.
    *
-   * The speed and curve are -1.0 to +1.0 values where 0.0 represents stopped
-   * and not turning. The algorithm for adding in the direction attempts to
-   * provide a constant turn radius for differing speeds.
+   * The algorithm for steering provides a constant turn radius for any normal
+   * speed range, both forward and backward. Increasing m_sensitivity causes
+   * sharper turns for fixed values of curve.
    *
    * This function will most likely be used in an autonomous routine.
    *
-   * @param outputMagnitude The forward component of the output magnitude to
-   *        send to the motors.
-   * @param curve The rate of turn, constant for different forward speeds.
+   * @param outputMagnitude The speed setting for the outside wheel in a turn,
+   *        forward or backwards, +1 to -1.
+   * @param curve The rate of turn, constant for different forward speeds. Set
+   *        curve < 0 for left turn or curve > 0 for right turn.
+   * Set curve = e^(-r/w) to get a turn radius r for wheelbase w of your robot.
+   * Conversely, turn radius r = -ln(curve)*w for a given value of curve and
+   * wheelbase w.
    */
   public void drive(double outputMagnitude, double curve) {
     double leftOutput, rightOutput;