Quote:
Originally Posted by bdbayes
We are using a multimeter to test the output of the control circuit. This now leads me to believe that it is no longer a software problem and instead a firmware problem with the jaguars.
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I doubt it. I would strongly suggest that this is a wiring or mechanical issue. If you flip the PWM connections does the lower output voltage you are measuring follow the PWM signal or stay with the same Jag?
Have you tried measuring the voltage on the input side of the two Jaguars while this condition is occurring?
I think it is likely that the side measuring the lower voltage has mechanical binding and/or improperly terminated wiring or long wire runs and is dropping a greater voltage before it gets to the input of the Jag (and likely dropping more voltage inside the Jag as well if the current draw is higher)
The directional bias mentioned by the previous poster for the CIM motors is a few percent and while it can cause the robot to drift slightly dependent on construction it shouldn't result in the substantial difference you appear to be reporting.