Mine is simple.
Since the turning of the robot could be done if the whole weight was applied I concluded that what I had to limit was the acceleration.
I used a pt by pt low pass filter. I'm using a straight line acceleration.
We can even drift the robot with full control (like Tokyo Drift
) and then go straight forward.
The main thing is that the wheels must NEVER stop spinning because they will loose their grip. So I when we release the joystick the wheels spin for a while until the driver reacts again.
I didn't use any kind of sensors since I didn't know what I was doing
I'm a complete newbie in everything...