Our Drivetrain drifts left for no apparent issue. We have tested many thing such as testing all motors, testing watts used on each motor, checking overall friction on each side, checked for bent axles, checked program, checked for scrap metal in gears. None of this worked and the Drive still drifted…

My guess is that the larger radius of the omni-wheels compared to the traction wheels, which lifts the robot up a tiny bit, just enough to keep the traction wheels from touching the ground. Is there any resistance when you try to move the robot left and right manually? If so, something might be wro…

We put the tape there to test if both sides spun together, they don’t right side is faster. All four wheels make contact with the ground on both sides.

Pull the shafts out of the motors and spin both sides with your hands. Do you feel significantly more resistance on the slower side? If so, try to find the problem shaft(s). I spent 3 hours just tweaking shaft cuts, spacer and washer amounts, and bearings. The result was a very low-friction intake. …

[image] These horizontal bracing could be the problem I assume. sometimes the two wheel systems are still parallel, but those bracings aren’t perfectly perpendicular. The same problem is happening to our robot :smiling_face_with_tear: .

Has it been drifting left ever since it was finished? If so you could have a screw on one or more of your wheels that is pulling against the frame too tight which squeezes the gears and wheels too tightly and causes excess friction. I have had trouble with that sort of thing on flywheels. I have als…

could be a programming issue asusming your testing of DT friction, motors wattage and motors actually being connected to the axels. also little FYI having 2 HS shafts as your cross braces isnt great. they only have 1 point of connections not 2 which allows for alot more shifiting than a pice of ccha…

[image] Koko2008zzzz: All four wheels make contact with the ground on both sides. What if your drive starts to flex under load? [image] TimmyOsborne: having 2 HS shafts as your cross braces isnt great. :point_up: [image] Koko2008zzzz: We put the tape there to test if both sides s…