[Alan Anderson]

We had an optional PID velocity control mode for our 2005 robot. The drivers didn't like it; they were used to the more direct joystick->motor power control. We never took the time to dial in the PID parameters for the best response, but it worked reasonably well at low speeds.

Our scheme for controlling the left and right sides might be a little unobvious. We actually tracked robot velocity and turn rate as our control and feedback values, and mixed them together in the fashion of a single-joystick system to command the motors. It gave us extremely repeatable autonomous drive paths (alas, we didn't manage to get the camera to choose which path to use before we decided to focus on other strategies).