[windell747]

Another simple form of traction control as it is kind of hinted at in the WPI joystick filter paper is to use the PID rate limiter to go between the joystick command and the motor command. We tried this quickly and realized a dramatic improvement, however is the EGU/min value was too small, the ramp up and ramp down would take a while especially as the motor command was working its way (at the slow rate) through the deadband for the jaguars. I guess you could disable the deadband, but I'm not sure how this will perform on your bot.