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Re: Motor Questions
If you can better characterize this and determine whether this is primarily an issue at the low input values or is consistent across the speed range you will operate in, you can do an open-loop compensation. Just reduce the eager side by some amount, like perhaps a linear transform. I'd suggest making some coefficients that are placed on a panel or in a global. Run the code and tweak the bias and slope to see if this is good enough.
Depending on the weight distribution and wear-n-tear on the robot, you may need to update this at some point. You may also want to do the test on carpet or a close approximation.
Greg McKaskle
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