[bdbayes]

I think that we have solved the problem. On our robot, we have 16" drive wheels. We built a second frame today from the KoP and discovered that it drives very smoothly and very straight when you are only using 6" wheels.

We continued extensive testing on the jaguars and discovered that the jaguar tends to output more power going in reverse than going forward. While this is not a problem with the standard 6" wheels provided, it does present a problem when you have 16" drive wheels and casters on the front. This will likely have to be a programming fix unless anyone has any other ideas because it will be a matter of limiting the reverse power down to what the forward power is outputting.

We believe that we have found the other issue. While trying to drive a couple of days ago, we discovered that one side would stop while the other would keep going full throttle. This problem only seemed to present itself when the robot was pushing against something (ie. a person). We now believe that the gear box could have been assembled incorrectly and is therefore causing issues when the motors come under load.

I will add new information as more is discovered tomorrow.