May we have some traction control help?

[windell747]

We are currently trying to get our traction control to work. We based our traction control algorithm something like what we think team 121 is doing. We calculate the slip ratio and send that to the PID controller. The set point for us is 0 percent slippage. The values from the PID controllers are then added to the driver's joystick command to compensate for slippage.

So thats the algorithm. Here are some questions

1) How do you deal with the infinite slip ratio case as the driven wheel velocity goes to zero?
2) Is adding the values from the PID output to the motor command the best way to do this?
3) We would really like to have a simple yet effective traction control algorithm. Any suggestions on how we can improve?

I attached a copy of our code for reference.