[Chaos in a Can]

We're going to try something of a manual traction control.
When we tried the simple rate limiting method described here, our driver didn't like the feel of the robot.

Instead, pressing down one trigger (we use a 2-joystick tank style control) will scale down the motor power slightly and pressing both scales it down further. The change in the scaler is rate limited while increasing, so our driver can start from a standstill in the lowest "gear" by holding both triggers and release the triggers as he speeds up to smoothly accelerate.

At higher speeds, it doesn't do much, but it should make low-speed maneuvers more controllable.