Tank control will treat each thruster independently. It gets its name from tank treads, which effectively act as two "wheels"/movement devices that can act independently. The catamaran has two thrusters.
In tank control, we will use two joysticks. The left joystick vertical axis will control the left thruster, and the right joystick vertical axis will control the right thruster.
### Transformation
The `SDL` library returns joystick axes with the C type `int16_t`, which is a signed 16-bit integer. The range of that type is $\nobreak{[-2^{15}, 2^{15} - 1] = [-32768, 32767]}$ ($2^{15}$ rather than $2^{16}$ because it is a signed integer).
