Autonomous using encoders

[Dave Flowerday]

Originally Posted by Eagle Master

The difference in encoder counts between both sides of the robot builds up at the end of a long run. This is worse if the floor isn't level or the motors on one side are stronger. What do teams do with this error?

I'm not quite sure which problem you're having. Is it:

A) Your robot is driving perfectly straight (or nearly so) but the encoders are giving you different counts at the end of your run, indicating that the encoders aren't counting accurately for some reason.

or

B) Your encoders are giving you different counts and your robot is veering off to one side (i.e. the encoder counts are right, and you just want to use the difference between them to be able to drive straight).