[dtengineering]

We had two very talented programmers who figured out how to do this using interrupts on an IFI controller three or four years ago. I believe they calculated a desired speed for each wheel, then ran a PID loop to set the wheel speed. Aside from that, I don't actually know what they did, and am afraid to touch the code for that robot lest we send it skittling across the floor out of control. It took a while to tune it.

Have you tried using the gyro to keep it traking straight?

Jason