Our robot is randomly stopping during the autonomous period. We have determined that the problem is not related to the programming. We have tested the drivetrain with an extremely simple program, and it still pauses erratically during the autonomous period. There is also slight swerving (on the order of 1-15 degrees if the drivetrain isn’t overheated).
Is there any reason this might be happening? Is this problem related to the drivetrain construction, or should we take another look at the code?
Thank you in advance. Any help would be greatly appreciated as we are in this time of crisis.
If it is a build problem, then it is most likely bad build quality due to:
Friction, caused by too many spacers or shaft collars rubbing against structure
Unsquared chasis
Bad gear mesh
Lack of or improper bracing, usually you would see the drivetrain bending outwards if you look at it from the front
Since your drivetrain is swerving slightly, then that is a sign of too much friction on the same side as the turn direction (right turn–> right side for example)
Could we see a few pictures of your drivetrain olease? That would help the forumers help you better.
Sorry, here’s a photo of our current drivetrain. Each side of our drivetrain has two 11W blue cartridge motors connected to 3 wheels in a 36:60 gear ratio. Thanks for your help so far. If, say, the problem was due to programming issues, how do you think we can test it?