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Originally Posted by Dave Scheck
Last year we used on/off control (if left, go right; if right, go left....there were speeds for close/far) on our crab weels, which caused them to oscillate quite a bit when the wheels were not in contact with the ground.
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Just a correction here: we used proportional control last year, not on/off. However, with straight proportional it couldn't return all the way to center due to friction, so we added in some special ranges that tried to deal with that behavior better, and finally settled on something that oscillated a bit when the wheels were off the ground but was pretty stable when the robot was on the carpet.