[Uberbots]

Abwehr: I understand your code, but in essence it is only correcting for a rate. Sure, it will get the 'drive straight' stuff done, but if the robot gets knocked off course it wont know where to go to.

Given the depth of your post though, i think you already know this d=


We had something similar implemented in our code for the purpose of having the robot 'turn' or 'arc' at a predictable rate... it was good except for the jitter.