Quote:
Originally Posted by ThomG
We are building a center-drive 4-caster bot. It seems to be tracking left in about a 5 or 6 ft. radius. We tried running it on tank mode to see if we were able to compensate for the differing output but being center-drive with 4 caster but the problem persists and it is ever harder to compensate. We put tracking wheels on it to see if that would remedy the situation but it pulls the same, but turns much slower and remains very sensitive. We recalibrated the PMW's and also tried to fix the problem with trim, but no luck.   |
Sounds to me like your left gearbox has much more drag in it than the right gearbox. You may want to look at the gearbox and drivetrain on the left side to see if you are binding there.
Also, all motors have a bias. Since 1 side is turning 1 way and the other side is turning opposite, the same offset PWM from center (or equal PWM with wiring reversed) will produce different speeds and will need to be compensated for.