So. Being an “amazing” builder (I’m actually a programmer) I built a fully functional snailbot with flip out arms. It sucks… really well! It is definitely an early-season build, but It could probably cheese a tournament in the beginning. So once It was done, I noticed a bit of slippage, and It didn’t bother me in driving though. But then came the programming. I slapped some PID on that Boi and of course, There was still a bit of slippage. I thought by making the initial power at the beginning of a drive function weaker would be the solution to all my problems, but alas. nope. I was considering using a gyro to make things straighter, but I would rather, you know, build a drive that moves in a straight line. I considered using traction wheels to make the drive slip less in the beginning, but then the X-Drive wouldn’t work as well. The only solution, is to build the X-Drive, correctly. I would like to not use sensors or 4 PID loops at once to make the robot do the basic function of moving. I used the 45 degree gussets to make the angles. The X-Drive I built is most similar to 210Y’s snailbot. How can I make the angles of all the wheels be exactly the same (Or at least really close)?
TL;DR : Basically my X-Drive isn’t driving straight because of slippage caused by my bad building