Directional drilling control

A method for oscillating a drillstring, the drillstring extending into the earth, the drillstring having a bit on a lower end thereof, the bit for drilling into the earth, the drillstring connected to a motive apparatus, the motive apparatus for rotating the drillstring, the motive apparatus having a power output associated with rotating the drillstring, the method including, in certain aspects, determining a first amount of energy and a second amount of energy, said determining based on the power output of the motive apparatus, applying the first amount of energy to the drillstring in a first rotational direction, applying the second amount of energy to the drilling in a second rotational direction, the second rotational direction opposite to the first rotational direction, the application of both the first amount of energy and the second amount of energy not moving the bit.