[xXhunter47Xx]

Yes for my drivetrain.
The problem is the resistance for each motor is different (I assume) because it's a custom built chassis and it isn't machined by a master machinist in the business for 101 years, it's drilled by 16-18 year old students. That's not exactly something we can fix.
What do you mean by situ?
We're using mecanum drive.
Sometimes Yes.
Not sure about what you mean by that last question.