[slimemonkey]

Thank you for the tip about the encoders.

We decided to match the joystick to the voltage only temporarily to test the PID loop, and until we had a way of measuring the velocity of the wheels. Our main problem is this:

Once we have a set velocity based on the joystick, by how much do we increment the pwm to each motor to reach this velocity? The PID loop will tell us the error in the velocity and the correction value in terms of velocity right? How do we translate this in terms of change in pwm to each motor?