WPILib Mecanum Drive, PID and drift

[Ether]

Originally Posted by SteveS

when we try to drive straight forward, our robot drifts to the right.

Do you mean like this? or like this? A gyro can be used to correct the second one, but the first one not so much.

Make sure you calibrate your motor controllers so that there is no unintended strafe or rotate command being given when you are trying to drive straight.

Try temporarily zeroing-out the strafe and rotate commands in software so that you can command a truly pure forward command and see if that affects the vehicle behavior. If it does, it may mean you are getting unintended strafe and/or rotate command when you don't want it. If so, you could add deadband, or change the driver interface to separate the commands.