[Ether]

See attachment.

It's pseudo-code for gyro-guided single 2-axis joystick control of a skid-steer robot. The robot turns and goes in the direction commanded. It's field-centric control for a non-holonomic vehicle, like a 6WD.

I'm looking for a team that would be interested in coding this up and trying it out, and collaborating with me to work out the bugs and add features, either as a learning experience or possibly for competition use.

It seems to work in a simple simulation but I don't have a good plant model of the vehicle dynamics and no access to target hardware.

Post here or PM me if interested.

Thanks.