Random Slop/Inconsistencies in drive train

VEX IQ General Discussion
1

Hello, this is my first post on the forums so please forgive any mistakes or lack of information. I am using the starter vex iq robot pictured here. I have 4 omniwheels and the inertial sensor in the 2nd gen brain running.

No matter how hard I try it seems, the robot will not start driving straight. It will jolt .5 or 1 degree left or right (seemingly random after many repetitions). I have changed out the motors, added spacers, added more spacers, lubricated the drive/motors but to no avail. It is a relatively lightweight robot but I have done my best to counterbalance and add weight to the front by just adding 2 motors to offset weight (they do not do anything else).

I have also coded a PID and tuned it but the issue still occurs with that and I believe it is unrelated because it shifts at the beginning of the drive. The friction seems relatively balanced/minimal. I have not found many other forum posts about this, but if there are please forgive me.

I would really appreciate any help, thank you!

2

Are you properly calibrating the inertial sensor? Typically they will need 3 seconds of no movement to properly calibrate. Also, you might want to set the inertial sensor rotation to zero when you start driving/programming skills.

3

I run calibratedrivetrain(); and set the rotation to 0 at the start.

4

I have also had this problem with my autonomus skills. Does this happen when driving backwards or only forwards?

5

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