Programming Issues with Crab Drive System

[Al Skierkiewicz]

The pictures make a lot more sense of this. Are you having your greatest problems with the robot moving or just standing still? It appears that the sensor for the steering position is mounted with bearings taking the load which should be ok. The sensors are not known for being able to handle any kinds of side load. The tough part about this drive system is until the bearings break in, there is a lot of force to turn the modules particularly when the robot is moving. It does not appear you have any bearing plate low on the module to keep the modules from producing sides loads while turning, driving or being hit from the side. Any force applied to the module also translates to higher friction for the steering motors. If the drive chains are tight friction is also added by the side force applied to the top of the module. Unfortunately, window motors cannot be back driven so you will not be able to feel any additional friction on one side or the other. If you had some method to measure current in the two, I think you will find a much higher current in the side that you are tripping.