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If your just using the drills then more than likely your running into the forward/reverse difference. The motors are tuned to run in forward slightly faster. Its possible to mount the motors or run the chain so they run together. Or you could just adjust the program to cut forawrd by 15%. I'm not sure what really chaotic means but bots act weird on concrete, tile floor always try to test them on a carpet similar to a playing field.
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