Quote:
Originally Posted by Abwehr
Rolling friction (where the surface of the wheel at its bottom point doesn't slip relative to the floor) should be equivalent to static friction for non-deformative surfaces.
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So I assume you have an algorithm in your drive code that determines when your wheel is slipping and backs off the power? Certainly possible - compare omega R of the wheel to integrated speed at the wheel from the yaw rate and accelerometer. Or just calculate it from static friction and never apply more than that amount of power, but if you do start to slip it's not self correcting since the power requred decreases. Otherwise if you're applying full power to the wheels you can expect them to slip.