My drivetrains are frequently able to turn absolutely terrible, making autonomous programming almost impossible, my main problem is when the robot turns it overshoots, and then overshoots again when correcting, i’ve found i can make that not happen as much by lowering the speed of the turn, although it usual gets so slow that it doesn’t even turn, long before it stops that motion
Auton in IQ is a LOT harder if you are using all omni wheels. They tend to move in unpredictable ways.
I would strongly recommend using solid rubber on the FRONT and omni on the rear generally speaking.
This forces the bot to pivot in the middle as most bots have stuff in front of the front wheels, so the solid wheels are roughly in the center of the overall bot.
Go look at videos of how a fork lift turns. They have solid wheels up front and turning ones in the back.
Other than that… try to make the drivetrain solid and reliable. If the frame’s coming apart, flexing a lot, or pinching the axles you won’t get good results.
What do your drivetrains look like? Do you use normal or omni wheels? Have you looked at the code? How old are your motors?
How much better will having 2 solid front wheels make the auton? And is it worth not being able to turn in place?
I would also recommend making sure that you’re wheels are tightly in place with rubber shaft collars or spacers so that your wheels don’t move out of place.
Like I said, most bots have ‘something’ out front: claw, gripper, etc. So if you use solid wheels for the forward wheels (which are actually located about the center of the bot) and omnis for the rear, then the bot pivots on the solid wheels… and essentially turns in place… accomplishing both goals of precise movements and maneuverability.
Does it still work if you have something on the back too?
The travel/traction wheels, like said by turbodog, should always be the wheel in front and you should be using the rear omni wheels to turn. If you put the omni in front and traction in the back, the robot won’t turn as efficiently. Also, elaborate by what you meant when you said “if you have something on the back too”
You can try using a control algorithm like PID
Generally speaking, if I looked at 100 robots of all different designs, 95 of them should have traction/front and omni/rear. 2 should be traction on BOTH, 2 omni on BOTH, and 1 traction in rear.
If you want something more specific… then I need more details like a photo/sketch.