Implementing Traction Control for an advantage in the 2009 game

[Paul Copioli]

To answer the earlier question, what we do on carpet is use an idler wheel on a spring connected to an encoder. this will not really take away from normal force (very, very small spring load) but we are concerned this year that we have to use the actual wheel instead of a small wheel and that the low friction will make that one slip too.

The time step (or ITP time) for the cRIO is ridiculously small so we are using the simple difference and will use the labview filtering if we have to.

I can tell you the simple joystick filtering works way better than I thought, but will need a lot of manual intervention in a pushing match.