When the wheels on the left and right side of your robot rotate at the exact same rate... (using encoders and PID velocity control, AND we counted rotations to verify they spun at the same speed)
And your robot STILL doesn't go straight...
The best part is: It goes as straight as a bullet in REVERSE, but not forward.
8 days to get this one sorted out!
I blame the mechanical guys
, because one could guess that this is the difference between shifting your weight over nice fat grippy wheels (reverse) vs shifting your weight over slippery omnis (forward), combined with robots having no suspension to keep power down on all your wheels nicely, and a frame which is probably not perfectly flat at all corners.
So why is this in the programming forum?
Because during 5th week, EVERYTHING becomes a programming problem... hahah.
"Just make it go straight"
-SlimBoJones...