Quote:
Originally Posted by Hawiian Cadder
it is correct that they do not create a bump, however all of the rollers are not at 45 degrees relative to the ground, due how one roller is at the begging of its for lack of a better word contact zone, and the other is at the end, they are at a slightly different angle relative to the ground. while going forward or backward, or while strafing, this should not be very noticeable, but while going close to diagonal it causes the robot to move in more of a very small zig zag pattern, which causes accelerometer white noise. this caused problems for our attempt at a robot that could stay parallel to the field at all times. it did not work while going diagonally.
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Even if you reduce the overlap to zero, a 2.5" long roller on a 4" wheel goes from ~44 degrees to 45 degrees and back to 44 degrees as it goes from end-to-end. This is greater than the change in angle during overlap.
Could you please share with us how you determined that this very small change in angle is actually the root cause of your problem, and not, say, friction or misalignment or manufacturing tolerances of the rollers/wheels?
By the way, when going forward and backward the rollers do not turn, but when strafing they do. So if roller angle were indeed the source of the problem, one might expect to see the problem when strafing.