[Doug Leppard]

Our drivers are happy with our traction control. We have the driven wheel encoder and a vex Omni wheel on the floor called the undriven wheel.

We found 20% slippage is the best. Our moving algorithm follows the joystick either increasing power or decreasing power according to the joystick position and wheel slippage.

But you have the 0 or little speed situation, for instance you may be in a pushing war and going almost 0.

For that we don’t do a ratio of slippage because it does not make sense. But we allow a certain number of rpms of the wheel which is slippage at a standstill.

It is very simple.

BTW we put a toggle switch on the driver’s station that allows the drivers to turn off and on the traction control; sometimes the drivers use the large amount of slippage to their advantage especially in turning.