To make it easier to control the robot, it could be useful to create a velocity based drive mode. It's difficult to create a drive mode that responds to driver input, but it may be possible to create a way to create a mode that drives the robot at a velocity that is proportional to controller input.
This paper describes how to make drive the robot in this way.
[ ] Mode to drive using voltage-intercept, kV (and maybe kA)
[ ] Integrate these into velocity based closed loop modes
[ ] Drive mode that can be run to calculate voltage intercept, kV, and kA
To make it easier to control the robot, it could be useful to create a velocity based drive mode. It's difficult to create a drive mode that responds to driver input, but it may be possible to create a way to create a mode that drives the robot at a velocity that is proportional to controller input.
This paper describes how to make drive the robot in this way.