You guys steering your wheels??

Originally Posted by iCurtis

Hmm? So, does the crab drive just do it's think, and you let the trailer do what it will, or does it correct for the effect of the trailer on the robot? If it auto-corrects for standard crabbing, SERIOUS props to your programmer(s), and does the robot base maintain it's orientation?

That part is still in theory, so here's hoping we can pull it off. We're pretty sure we've figured out a way to have the robot be able to crab as if the trailer wasn't there, but our speed will be pretty slow while we're doing it.

Hint for teams wanting to do a simple traction control: Put some encoders on each wheel and compare wheel speed to a gyro/accelerometer combo to tell robot heading/speed. Then play with different methods of "adjusting" how it drives, and you should enjoy the results.