[rsisk]

Well if you have all that coded, you are doing good. Of course the hard part is testing and getting it working.

There is a really good thread on traction control on CD, search for it. While you are searching... The accelerometer is one way to gather the data you need for one method of traction control and it is as good as other ways of gather accelration data. When you use the accel. you are looking for an excessive change in rate of accel., you could also do this with POTS on the drive system. When the rate of accel. exceeds a threshold, you reduce power to the motor until you return to the target rate of accel (solution crys out for a PID loop).

The other way of doing traction control is to measure true ground speed, compare it to motor speed. When the motor speed is greater than what the ground speed should be, you are slipping and need to reduce the motor speed until they are within some tolerance. The math should be easy when both sides are slipping at the same rate, when your slipping to the left or right, then I think the math will get tougher.