Automatic Differential/Motor Speed Compensation

[RSNovi]

We have a similar problem with our robot. One of the gear boxes on one side is tighter. It doesn't seem to cause problems when manually driving, but long distances in autonomous mode would cause it to veer slightly.

We corrected by designing an algorithm using the gyro which we can set an angle and the PI controller will correct. Unfortunately it isn't perfect because the gyros drift so bad.

We were having good luck scoring a goal autonomously and we made it to the finals. After turning the robot on the announcers would talk so long that the gyro would start drifting like crazy before the robots started. The reference library takes 5 seconds to calibrate the gyro. I wonder if that could be reduced.