I have posted before about issues with the drivetrain last year. I accept that there will always be some inaccuracy for turning the robot by instructing the drive train to turn a certain number of revolutions instead of using an inertial sensor or gyroscope.
However, when using a Four-Wheel Drivetrain, what I have noticed is that the robot we have built executes inconsistent turns when turning right versus left. The robot will overturn in one direction, yet will turn accurately in the other. I have also noticed a visual difference in how the robot looks when executing a turn: in one direction it rotates smoothly and perfectly, but the other appears to be bumpy and inconsistent. In one direction the robot turns “on a dime”, the other, the robot actually moves slightly laterally while turning.
We have tried the following:
- Swapped out all motors for new ones
- Inspected and cleaned all shafts
- Modified code settings for different wheelbases and track widths
I have not yet swapped all wheels, but on inspection they appear consistent. Any advice would be greatly appreciated.