[ellisk]

So, if I understand your algorithm correctly, it works like this (for each side):

1. Get the acceleration according to each encoder on the transmission
2. If the acceleration is too high, compute the ratio:

maximum_acceleration / real_acceleration

where maximum_acceleration is determined experimentally. Then, multiply the desired motor value by said ratio.

Is that right? So do you just ignore the velocity according to the encoders on the omni wheels (undriven wheels)? It sounds simple, but it also sounds like it could work (occam's razor ftw).