Quote:
Originally Posted by alecmuller
3) It turns out ONE of the wheels is slipping, and the other 3 aren't. These 3 suggest I'm either not driving them at full power or there's far more friction in the system than I accounted for in my calculations (i.e. like ~70% losses instead of 20-30% losses).
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This looks like the first question to tackle. Check the voltage being given to those motors, after the controllers. If the controllers aren't putting out 12V, you'll get a lot less torque than you're expecting. If that's OK, try checking the torque of a single motor/gearbox by replacing the wheel with a spool and winding some cord onto it.
Also, recheck your force calculations. We don't know what motors, gear ratios you're using. If you provided this info, I'd be happy to do a cross check.