Quote:
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Originally Posted by gshosford
We changed the program to lower the maximum pwm to each motor. As I recall we calibrated the Victors before we started our test. We put the robot up on blocks to check wheel rotation so the wheels were not in contact with the floor. With a PWM of 127 + 32 to one Victor and 127 - 32 to the other Victor there was a significant difference in the two motor speeds. When we moved the joystick to the opposite extreme, the motor that had been the faster of the two became the slower of the two and the one that had been the slower of the two became the faster of the two. The observations are qualitative, but there were significant differences between CW and CCW motor speeds.
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I have "experimentally" (unknowingly!) verified this. After an hour of "why won't the robot drive straight!??!", we got the bright idea to flip the motor output wires on the Victors and send the same values to all the drive PWMs.
Suprise, all the problems went away and the robot drove straight as an arrow.
This can be a
very frustrating problem at first, though!
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