[FTC]: Lag Issues Believed to be Not Associated With Samantha

[Just_In_Time]

Hello. We recently competed in a qualifier yesterday, and were having some bad issues with the robot taking around 2-3 seconds to respond to joystick commands coming from our drive train. We would drive the robot forward, then it would take around 2-3 seconds after giving it a backwards command for it to start driving in the reverse direction. We are fairly sure it wasn't the field issue as most other teams weren't having similar issues. When we got back, we tested the other motors to make sure they didn't have lag issues, and it still was only the drive train that had lag associated with it. We noticed that in the Samantha field control software, our battery level dropped around 2 volts after running the drive train for about 10 seconds, then went up to the normal level (usually around 13 volts) a few seconds later. At this point, we feel that it may be because our drive train is drawing too much current. We have 4 drive train motors each at a 4:3 gear ratio. Any help is greatly appreciated. Thanks.

JIT