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Re: Problems with our driving
Somewhat similar to what was mentioned above but here is what we do...
We have the exact same setup you do (4 omni, two traction), and what we do is have a "deadzone" around the base of the joysticks, and I believe we also do some acceleration in our code (so that when you push the joystick out of the centered 128 position it doesnt start until something like 150, and then actually outputs a slower ramp 150 on the joystick outputs 129 for the motors, 152 might output 130, etc...). If you want to implement this in your code, email me and I can have our programmers send you some code. Im not exactly certain what formulas they use, but thats the basic concept.
This provides for a much smoother drive system, but allows you to take advantage of the power and manueverability of the drivetrain design you have.
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