Driving Straight with Encoders

[Ether]

Originally Posted by raptaconehs

We use a 6 wheel drivetrain. With toughbox minis which are specially made with a unique gear ratio for speed. We use 2 CIMs on each toughbox. We use the standard drive code given by FIRST. We have been trying to check out mechanical and electrical problems but we haven't narrowed it down to anything yet.

Four questions:

What kind of wheels?

How much are the center wheels dropped?

Chains or belts? How are you doing the tensioning?

What's the total speed reduction from motor to wheel (include gears, sprockets, and pulleys?

Three suggestions:

Put some extra weight over the rear wheels and see if that changes the amount of drift. Then move that extra weight to the front wheels and try again.

Put the bot up on blocks and slowly advance the throttle and observe the left and right wheel speeds.