[Johnbot]

2607, for the past two years, have used "Kaj drive." It started with Logo Motion, when we tried to use Mecanum wheels for the first time. Forward/Reverse was on the Y axis on the left stick, strafing was on the X axis on the left stick, and turning was on the X axis on the right stick.

Well, we only supported our Mecanum wheels on one side, so the shafts holding them were terribly bent up by our second regional, so we couldn't strafe much at all, leaving us with turning on the right stick, and drive on the left stick.
We decided to keep it for Rebound Rumble, and it worked well.

This year, however, I am looking into other methods for controlling our robot. Our current design has a frame of 37"x19", and it has a 40" tower in the front, so it is pretty tippy. I'm playing around with voltage ramping with our Jaguars to make sure we don't flip from changing direction too quickly. Also, I'm trying to add an accelerometer to the tower to correct itself if it ever begins to tip. We also want to mess around with the idea of automatically changing from break to coast depending on our current state of motion.