Okpilib Chassis rotational drift

Driving the full field at .2 speed, I notice that my drive base rotates slightly to the right, as much as 10 degrees over the length of the field. Is this an issue with my drive base or with okapilib turning motors slowly than it should? I’m using internal encoder odometry.

Did you tune the angle controller? iangleGains here okapi::ChassisControllerBuilder class | OkapiLib A PROS library for programming VEX robots

1 Like