[Ether]

Originally Posted by JohnGilb

The driver had two joysticks:
1st: X/Y joystick movement controlled X/Y direction & magnitude of the robot relative to the field
2nd: X joystick movement controlled rotational rate relative to the robot

OK, so let me read back to you what I hear you saying:

- You do closed-loop control of the vehicle speed as commanded by the radius¹ of joystick #1

- You do closed-loop control of vehicle heading as commanded by the angle² of joystick #1

- You do open-loop command of rotation rate as commanded by joystick #2 (X, Y, or Z axis?)

Am I understanding you correctly?

How many follower wheels did you use, and how are they mounted?


¹ Do you use sqrt(X^2+Y^2) or max(abs(X),abs(Y))?

² Do you use atan2(X,-Y) to calculate angle, or something else?