battery voltage compensation

[Rickertsen2]

I was reading a document describing a specific control loop implementation when i ran across a mention of scaling the output inversely porportional to Battery voltage. When i read this an "AHA" lightbulb went off. This is something that can be implemented extremely easily on a FIRST robot and might be of some use in a few situations:
*any sort of timing based autonomous. Could make much more stable
*maintaining optimal tuning of a PID controller during times of low voltage either due to low battery or high motor load.
*might have some limited use under driver control. Humans will compensate for decreased sensitivity so it is probably unnecessary in this case.

Just an idea i thought i might share with everybody. We already have the voltage info available. It can't hurt.