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So, can anyone say what the best way of fixing this through programming might be? I ask because our team is in exactly the same boat as jpsaul's, right down to running on two wheels + two castors and having to fix a warped brush mount.
(We noticed this imbalance problem in our robot last week but assumed it was an early sympton of the brush failure (which just happened to be on the motor running in reverse). I guess not.)
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