[Joe Johnson]

Originally Posted by May_Walter

Hello.
We wrote a mecanum drive code of our own. The outputs have been checked and they're correct, but for some unknown reason sometimes the robot changes directions while we are driving (mostly while we are driving on the side "mecanum drive").
In addition, certain wheels spin slower than others, and when we spin in place the robot jumps instead of driving smoothly.
Are these problems common? do you have any ideas how to solve them?
Thanks
Team Artemis#3083

Seems almost like an intermittent hard spot in the drive system that is changing the speed of one or more wheels.

Try putting the robot up on blocks and running the wheels. Listen for changes in speed. It is possible that it is some sort of phasing thing between the drive sprocket and the wheel sprocket (e.g. every (N-M)/(N+M) turns the eccentricities line up in such a way that the chain gets tight or too loose and jumps or whatever...)

Just some suggestions.

Joe J.