[Andrew Lobos]

Did you notice the jerking when driving straight or only when turning? I'm not a mechanical person, but it really looks like your gearboxes contribute to your issues.

Feel free to correct me if I'm wrong on this:
- 6 inch wheels
- 4.67:1 reduction in CIMple gearboxes
- 1 CIM per gearbox
- 1:1 chain linkage to wheels

For this configuration, JVN design calculator says you have a max speed of 24.11 ft/sec and a maximum pushing force of 60.26lbs.


Also remember that the WPILib Scheduler calls your execute() methods on one thread - if one starts blocking it will affect other commands.