Falcon 500 encoder error?

My team and I have been having problems with the FRC characterization utility. Our encoder reports a distance traveled between 5% and 10% less than the actual distance. We have double checked our wheel diameter and edges per revolution (gear ratio * 2048 for Falcon).

Is this type of error expected from the Falcon?

How did you double check the diameter of the wheels? Did you measure the diameter when compressed by the weight of the robot?

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