[Paul Copioli]

The first indications on our robot were that the wheels were not getting to the position we commanded. At first, we thought it was the potentiometer going bad, but it was actually the motor not having enough torque at the lower gains (as it gets closer to the commanded position). The motor slowely loses torque capacity as you fail the front bushing. The planetary gears inside the globe transmission start to wear and bind up, thus losing torque capacity. The motor will eventually lock up, but the swerve steering will suffer long before lock up.

-Paul