[joeweber]

I do not know if the CIM’s have or have not bias direction but our robots for the last 6 years have all traveled to the left over a 20 ft autonomous mode. Tele-op is not a problem and the thought of setting up the drives motors and gear boxes off to one side so they are going the same direction is not always an easy placement with the space available. We also have used Fisher Price motors on a home made Segway and it always drove to the left. Yes we can program it out but some times it becomes a difficult task when you are dealing with gyros, rotation sensors, accelerometers and a camera to keep it on track. We just thought the addition of a small idle gear, short axel, and two bearings would be an easy fix. The weight is minimal and the time saved in programming can make a large difference when you only have six weeks to make everything work. We have a small team with one programer that has other things to do durring build season.