My students experimented with a drivetrain which has a high gear ratio (2:1) and noticed that it does not run at full speed when using VEXCode IQ but the motors work when run individually. This is when mapping the controller to the drivetrain by clicking on the controller joysticks.
We reduced the gear ratio setting in vexcode to 1:1 and the drivetrain now works correctly.
I played with this on a test drivetrain and I noticed that the drivetrain does noticeably slow down when I set a 2:1 gear ratio. If I add a print statement to the drivetrain it reports 100 rpm when at 1:1 and 120 rpm when at 2:1. I would expect it to report 200 rpm.
Is this a math bug in the arcade drive code?