Here on Team 612 we've used the cube function for several years. It gives the drivers much better control at low speeds.
We also include an
acceleration limiter, which eliminates any chance of tripping the circuit breakers. We do this by allowing the PWM signal sent to the drive motors to increase by only a certain amount on each pass through the user routine.
This reduces the maximum current sent to the motors. It also minimizes strain on the drive system (chains, belts, tread wear, etc.). The effect on the robot's performance on the field is barley noticeable.
This year, however, we are doing something completely different....
.