At our first competition this weekend we go to test autonomous and the robot won’t drive straight. There’s no equasion (like PID) being used, just motor[port#]=127; 4 motor in tank drive. Both right side motors run noticeably slower than both left. All 4 wheels are on separate motors. The only thing in common is the right side are on ports 2&3 and the left side are on 8&9. We intentionally separated the wheels across the two circuits. We put the robot on its back, verified all wheels spin freely and it still occurs. Next we’re going to test swapping ports L/R.