Drift Due to Chain Tensioning

[lewislongbottom]

Thanks for all the feedback! I think our problem is a mix of lots of problems. I think we maybe using a mix of new and old motors, that's probably not a huge issue though. As I expected, the holes for the axel's are probably causing an issue, this issue has been fixed lately. And I believe that the team plans to use the encoders soon as they are already fixed on the gearboxes, just not programmed yet. We have also purchased half links for the chain to correct the tensioning problem. In the future we will be using the WCP Chain calculator to get the correct length.

[FrankJ]

Even a lot of slack only gives a small amount of rotational wheel slop. Going steady state in one direction the slop gets taken up almost immediately. If anything, I see a small amount of slack useful for smoothing out imperfections in the drive line.