[Paul Copioli]

First, the CIM motors do NOT have bias. The windings are perfectly symmetric. There still may be slight differences in each direction due to other factors, but at loaded conditions this difference should be unnoticeable. I did significant testing on the kit base and kit transmissions (2 CIMS mounted in opposite directions) and the robot would only drift 6 inches sideways in 54 feet.

Second, the phenomenon you described when stopping is that one side kept going and one side stopped could be due to the brake setting on the victors. There is a little plastic jumper between pins on the victors. The three pins are A, B, and C. If the jumper is between A and B (Always Brake), then the Victors will come to a sudden stop. If the jumper is between B and C (Better Coast), then the victors will come to a slow stop. If the jumper is missing, then the victors will also brake. We have found that if you are doing a PID loop on the drive base (via encoders, etc.) you may want to put the victors in brake mode to help with oscillation.

-Paul