[JohnGilb]

Sorry, I think something got lost in my description.

-We perform closed loop control of X translation as commanded by the X axis of Joystick1

-We perform closed loop control of Y translation as commanded by the Y axis of Joystick1

-We perform open loop control of Robot rotation rate as commanded by the X axis of Joystick2 (however, when desired rotation rate is 0, we perform closed-loop control of robot angle as commanded by the heading we were at when we stopped rotating)

This was accomplished with 3 follow wheels and a gyro. Two of the follow wheels were used to track the robot moving forward/backward, and one was placed directly under the center of rotation and used to track the robot strafing.