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Originally Posted by Jimbo2032
In that I mean that when I pushed slightly forward on the stick some wheels would begin to rotate before the others. Once all the wheels were rotating it was in the correct direction (forward) but it still seemed that some were rotating slightly faster.
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One thing that can cause that is telling the software to control a Jaguar but actually using a Victor, or vice versa. The factory default PWM "neutral" value differs between the two types of speed controller.
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Should the rollers be able to spin freely, or should they have some resistance, or should they pretty much be bound up and hard to turn?
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The more freely they spin, the better will be your robot's ability to move sideways. The more resistance they have, the more force you'll be able to apply in the forward direction before the wheels slip, but strafing will suffer. If they're too hard to turn, you're essentially using a bumpy and expensive traction wheel.