[ebarker]

More ways to keep you thinking.

Figure out things like where the robots CG is and you could do something like mount an accelerometer on the bot, measure the g-forces while making the turn and limit the controls in real time to prevent an unwanted tip over when in a tight turn.

Yet another way is to put encoders on the wheels and calculate the speed and turn radius and limit the controls as in the above example.

Enforcing stability with your fly by wire system. It's great !!