Quote:
Originally Posted by 3175student17
So yesterday during our unbag time, we decided to test our autonomous that should drive straight over the defenses, and the drive is set for 70% forward. However, when we tested it for the first time on the field, instead of driving straight, it curved extremely left, crashing into the drawbridge instead of going over the moat. We went into teleop mode and made sure the shifters were set both to low gear just to be sure, then we tested it again, and it still drove to the left. We have greased our gearboxes, and have both belts set to proper tension. We did notice that the shifter coupler (interfacing the piston with the shifter) on the right side (the faster side) is rotating with the shaft, but the left side was not. What could possibly be causing this huge curve, and how would we fix it? We don't have time to buy encoders and have them shipped to us, as we have a week 1 event. Thank you for your help!
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Are you using pneumatic wheels? If so, are the two sides aired the same amount? That could cause slight curving, but I doubt it would account for what you're seeing. It might be a number of mechanical issues, like a bad bearing or a misaligned shaft on one side or a bad motor connection. Try pushing the robot forward manually and see if the robot curves on it's own. Sorry if this is not much help.