[Donut]

Well, we found part of the problem at least. We were using last year's drive code, and missed a part of the code that added 5 to the joystick value before it was given to the motors for no documented reason. We are using a one-joystick mixing system, and when the x-axis values were fed through, this caused one pwm value to decrease by 5 while the other increased by 5, throwing our motors out of sync by 10 pwm values at all times.

We've also reversed the wires from the victors to the motors on one side, so that we are sending the same pwm to all 4 motors, in case the victors or motors respond better to certain pwm values (high rather than low or vice versa).

We have not tested the motors yet since we made the programming fix, hopefully the problem should be solved tommorow. We have been testing our robot off the ground on a crate. I don't know about the 40%, that's what bush was having a problem with.