[martin417]

We are taking a much simpler approach to tank steering with traction control. We don't care about lateral slipping, which is required, we are more concerned about linear slipping. we are using the KOP encoders on the gearbox, and a second encoder on each side near the center drive wheels. We will compare the values and try to keep the drive wheel speed at or below the encoder wheel speed.

On a side note, the drive team has asked that we include a bypass button so they can turn off traction control to allow them to "drift" in turns if they desire.

All this is theory, we don't yet have all parts necessary to implement this for testing. Will let you know how it goes.