I am using LemLib to run Odom, and am having some issues. I’m using 1 vertical tracking wheel and 1 horizontal tracking wheel with 1 imu. The tracking is very sub-par. I’ll drive for a little route very slowly without hitting any walls and drive it back to its exact starting position, and the x and y will be like (-2.1, 2.2). It does this consistently however, as if i run moveToPoint to like (24, 48) and tell it to come back to (0,0), it will almost always go back to the same point, just not (0,0).
Both pods are banded down and as low as friction thats possible using the screw jointed rotation sensor ones. Im also using 2.75 in wheels for the pods.
At first I thought this problem arose from me setting up the chassis wrong for Lemlib, but i keep checking and I don’t believe anything is wrong. I feel like the only possible explanation could be that the distances I have set for the odom pods, but it doesn’t make sense that it can sometimes be 8 inches off on the Y axis and 0 on the X axis if the distance is only off by a couple of millimeters.
Does anyone have any thoughts on what my problem could be? Here’s my github repo just so y’all can double check the code: GitHub - Oofle007/1233H_24-25_code
Everything for Lemlib’s setup is in robot.h and robot.cpp
Here is a picture of the odom pod setup for reference as well:
