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Originally Posted by Lil' Lavery
Just curious how you got it to move in a straight line and spin at the same time then, as with a robot centric system, while spinning and translating, it begins to arc. For instance, if it spins clockwise while translating forwards, the "front" of the robot would move clockwise, causing a clockwise arc of motion (and eventually a circle that the robot moves clockwise along the perimeter).
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If you do not compensate for that while driving the robot, then yes, that is what it would do. But if you start driving forward and start to rotate to the right, if you move the left (transversal) joystick to the more to the left, you can compensate for the spin and more or less the robot will continue to move "forward" while spinning. With only relative control, it takes a lot more driver skill to translate while transversing.