Just a short video on a little PID controlled bot I set up to mess around with as a test bed. This thing will be able to climb most angles, and since the perfect amount of torque is being applied, there is no wheel spin. This all down to setting a target velocity or target rpm, getting the current rpm/velocity, and multiplying the torque by the delta($) of the two.
If you're not sure what a PID controller is, watch this fine explanation: https://www.youtube.com/watch?v=UR0hOmjaHp0
