Patent ID: 8771140

Claim:
A method of operating a machine having a frame, a drive train differential gear set connecting a first pair of traction devices and a second pair of traction devices, comprising using a control unit for: sensing a first speed of at least one traction device of the first pair of traction devices with a first speed sensor; sensing a second speed of at least one traction device of the second pair of traction devices with a second speed sensor; determining a first time-based average speed indicative of the speed of the first pair of traction devices and a second time-based average speed indicative of the speed of the second pair of traction devices; and selectively engaging a clutch assembly associated with the drive-train differential gear set to engage the differential gear set when: the first sensed speed oscillates about the first time-based average speed of the first pair of traction devices, or the second sensed speed oscillates about the second time-based average speed of the second pair of traction devices.