[jdong]

Sorry for the delays, ran into a few snags the past two weeks.

The balance between stability at low speeds and fast responses at high errors is extremely frustrating and time-consuming to find.

Right now, I've broken the algorithm into Low, High, and Overdrive modes.

Low uses small Kp/Ki (1 or 2), with a PWM limit of +/- 1 per loop. High uses a higher constant with a larger slope. Overdrive is engaged if the joy is pushed past a certain point, and switches to max PWM output.


I plan on releasing this code next week, likely under the BSD license.