Drivetrain PID tuning

[sspoldi]

In 2015 we used Mecanum wheels and one thing we really noticed was that the robot would rotate and drive forward well, but generated a lot more random slipping when moving sideways. We ended up using encoders for forward and lateral positioning and the gyro for heading. We could have used the encoders (one on each wheel) to determine heading, but the slip was giving us problems.

It was worse when the wheels got worn out. we were using the 6" Vexpro wheels, very cost effective but had a very noticeable life span for the rollers. Replacement wheels altered our autonomous timing required for the 3 tote auto.

Cheers,
Steve.