[brianc217]

My team tried to do a crab drive system this year but we found that the chassis would not maintain its orientation as we had assumed.
Does anyone know why this might have happened?

I tried implementing some correction code that would look at the gyro and compensate by speeding up one side or slowing down the other with some success but it wasn't perfect.

I also tried making sure all the wheels were going the same speed using rotation sensors and PID but could never get it to work. There was too much lag. Has anyone got this to work with this or a different method?

Thanks. I would appreciate any feedback. It would let me sleep easier at night!