[Al Skierkiewicz]

I should have mentioned this much earlier. How much wire do you have feeding the two sides of the robot? A frequent problem is inches feeding one side of the robot with feet feeding the other side. If you are using #12 to feed the drive system, you can accumulate significant loss in the wiring. It amounts to about 0.2 volts per foot at near stall current for CIM motors. Remember you have to count both the black and red wires to arrive at the correct calculation. It is for this reason that I recommend a central location for the PD to balance the wiring.