URGENT: wheel grinding noise

[xXhunter47Xx]

Originally Posted by Tim Lehmann4967

So I know you said it was gearbox, but I just wanted to bring up that it could easily be bearings. Our bot started making a clicky/grinding sound and it turned out to be a bad hex bearing.

It was a code issue. It was grinding because the wheel was getting an input from something (still haven't figured it out), and it would twitch back and forth, making a grinding noise.

[Tim Lehmann4967]

Originally Posted by xXhunter47Xx

It was a code issue. It was grinding because the wheel was getting an input from something (still haven't figured it out), and it would twitch back and forth, making a grinding noise.

Alright, glad you got it working.

[gpetilli]

Originally Posted by xXhunter47Xx

It was a code issue. It was grinding because the wheel was getting an input from something (still haven't figured it out), and it would twitch back and forth, making a grinding noise.

Priority 1 is always safety.

It sounds like you do (did?) have encoders with a PID loop (running on CAN Jaguars) on the wheels that is marginally stable due to slack in the mechanical system. Removing the slack (tighten the chain) will help. Closed loop systems have trouble with non-linear delays. This is one reason many Mecanum systems are direct drive. We also square our joystick inputs [ joy * abs(joy) to preserve sign] to improve drive-ability and reduce the sensitivity to the joystick returning to center.

So one mechanical tweak and one software tweak. Closed loop systems are fantastic when they work and adapt to changing environments well but tend not to fail gracefully. Keep pushing your bot (and your team) to higher levels of performance. It does show on the field.