pic: Prototype Drivetrain

[apalrd]

Originally Posted by gyaniv

...and that will almost need none program correction as possible (unless you MUST).

You may not understand how difficult it is to fix drivetrain problems in software. We programmers can fix many things. A squirly drive is not one that is easy to fix (depending on how bad it is). Take our Lunacy bot. 4 wheel swerve, wide, geared fairly fast. It was really hard to drive, because it always wanted to go one way or another. Even with the trailer, it was still hard to keep it going straight. We attempted to fix it in software (and Jim wrote the code, he's a Chrysler programmer) and it did not work. There was too much lag between input and motion with the slippery wheels, and it was too hard to correct. For you to fix your drive in software, you would need to do PD or at least P on both sides to get them to exactly the same speed, tune it very well, and use the gyro to correct for drift. I don't think it would be possible with the wheels where they are.

Move the centers to the outside. It will work better, as many others have said.