[Bongle]

Ours works quite well with an open-loop acceleration-limiting system. If the driver presses a button, we simply limit the rate that the encoders speed up with a PID loop. No dynamic slip control, no turning, just a straight-line drag. We have been doing robot-turning drills and have found the robot isn't _that_ hard to turn around, so we decided that straight-line acceleration was the main thing that needed fixing.

We also have a system to maintain heading while the driver accelerates halfway on the carpet and halfway on regolith, because our tests revealed that robots spun very easily in that situation.

Like you, we initially tried a much more complicated system, but found that our velocity estimates were simply not accurate enough to do dynamic slip control. Coding, testing, and tuning the open-loop system took about 2 hours after about 2 weeks of trying the smarter system.