System: SDS Mk3
Chassis: 30"x30" Vex 1x2. Battery is placed centrally in the back of the chassis
Motors: Neo, Spark Max Motor Controllers
Encoder: CTR Mag Encoder, Plugged into Spark Max MC that is spinning the wheel, not driving it.
Alternate Encoder Mode Set
Alignment method: Robot off, align all modules so that ring gear faces out.
Issue: When moving forward robot pulls slightly to the left, when backward slightly right
When moving left or right (9 or 3 o’clock) chassis turns slightly counter clockwise
Swerve Modules: After moving, back right is not aligned straight, sometimes back left as well.
Encoder output: Show 0 or +/- 0.0001345
This can be replicated on the ground or with the chassis raised with wheels not touching the ground.
Has anyone else run into this?