[Joe Johnson]

Closed loop feedback is beautiful.

I would recommend that you use the joysticks to command desired speed and robot turn rate (0 = straight).

Using gear tooth encoders (and a gyro if you want to deal with the slipping wheels problem) you can measure both these actual values.

Compare the Actual to the Desired values to generate error signals. There are many well know methods (including PID control) that allow you to calculate the output you need to drive the error toward zero.


It is a beautiful thing. Your machine goes straight when it should and turns beautifully too -- easy on the operator and easy to control.

Joe J.