[Andrew Schuetze]

Thanks for all the suggestions and looking over the code. Current and most recent "fix" was to broaden the deadbands. It is now driving much more as expected. Possibly the deadband was too narrow and minor off-center stick movements where exagerated when translated into robot movement.

I'd still like to compare robot performance between the Discobots and this omnidrive robots and continue the evolution of our design process.