http://www.chiefdelphi.com/forums/sh...94&postcount=1
We were able to improve driveability to an acceptable level by going back to tank drive (to take advantage of our driver's previous tank-drive experience) and using one joystick's X-axis (not used for standard tank drive) for strafe. We developed an algorithm to encode the 3 joystick commands (leftY rightY rightX) into commands for forward/reverse, turn, and strafe, which could be tuned independently (see link above). With a bit of tuning, it behaves just like the familiar tank drive, except it has the ability to strafe by using the joystick X-axis when necessary.
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