[EricS-Team180]

Nicely put, Mark...

We used a slightly different approach in that we built a simple proportional control with the yaw rate (as opposed to the integrated yaw position) as the input. The intent was to keep the yaw rate to a value of zero, when driving straight.
Since we had a chassis with omni wheels, this year, "straight" meant translation in any direction (in the plane of the field) without rotation. Our control inputs included a joystick for translation and a pot (with a spring return) for rotation. The output of the yaw rate trimmer was an "adder" to the rotation input. But, since the trimmer was only active when the operator was not requesting rotational input with the pot, the 2 did not fight each other...that is the rotational input either came from the pot or from the trimmer...not both.

Thanks,
Eric