Can I implement Scaling factor in PWM?

[Ether]

Originally Posted by xXhunter47Xx

Strafing along the X the robot ends up rotating (before we used the Extreme 3D stick)

I'm a bit confused. Which of the following meanings is the intended one:

1) You used to have the problem when you were using the Extreme 3D joystick, but you aren't having the problem now

2) You used to have the problem, but you aren't having the problem now that you are using the Extreme 3D joystick

3) You didn't have the problem when you were using the Extreme 3D joystick, but now you have the problem

4) You didn't have the problem, but now that you are using the Extreme 3D joystick you have the problem

5) Something entirely different?

What diameter mec wheels are you using? And are they VEX or AM?

Have you tried temporarily disabling rotation and forward/reverse in your code (simply by multiplying those axes by zero) and then running the robot to see how well the strafe behaves?

Check all the rollers on each wheel. Do they all spin freely? Or are some "dragging" somewhat? Do all the rollers have the same amount of axial free play, or is there a lot of variation? Some of the models of affordable mec wheels used in FRC robotics can display the symptoms you are describing if they are not meticulously assembled and adjusted.

If your attempts to locate and correct the root cause of the problem are not successful, a gyro can be used to help minimize rotation of the robot (when you don't want rotation).