[thinkpad]

Hey,

I got the mechanical guys to put the encoders on the output chain of the wheel, and the current calculated counts per wheel revolution are 299 counts/ wheel revolution. It does work for driving a fixed length in a straight line right now, but it is at relatively lower speed that we will have on our final robot mobility. Is this counts per revolution OK (hopefully not overkill like before, especially if we want high speeds)?

Now I am trying to get the robot to turn (using the gyros), is there a variable where we can calibrate the turning speed as per our gearboxes? We have a tank like mobility system so the turning isn’t very sharp, so when i ask the scripting to turn 90 deg (1500 miliradians), I can see the motors are spinning at different rate, but since it is encountering a lot of friction I was wondering if it is possible to make it turn sharper?

Thanks for all the assistance you’ve provided so far, it is really appreciated, it is amazing even a rookie team can have a good autonomous, all because of your generous help.

Regards,
Vick.