That’s what the kangaroo is good for combined with encoders. Otherwise the motors will spin at different speeds due to the variances in manufacturing.

i could add a compensation value in the sabertooth Movement Panel - but it wouldn’t be consistent across speeds. It would be a hack that wouldn’t be reliable but we can try it.

the real solution would be using encoders with the kangaroo movement panel. I know you’re in a time crunch so it might be a future upgrade for your bot

Thanks for all your help with this, much appreciated.

I was looking at a kangaroo for long term solution for the dome motor, right now it's actually 4 hobby motors running of an old h-bridge auduino shield I had kicking around.

I will look into trying it on the drives first when I get it.

I made some progress late last night, I increased the buad rate to 19200( I had tried it before but was when the motors had no max limit). I found the max speed below 100 starts to cause issues, at around 150 turning working pretty well but again the bot starts to become far to fast again to control.

After going over everything I started to think about drag and the front wheel. The setup puts a fair amount of weight there and friction. The motors have force the wheel if the direction is a considerable change. I removed the front wheel and temp tried with the legs straight. Now it's closer to a tank and there's no other forces at play. It was a considerable improvement.

I did a quick redesign and printed up a thrust bearing made using BBs. Also brought the legs closed to the body to reduce the turning cycle.

Now he turns smoother. I just missed a camber to try and help straighten out the wheel. Revision 2 is printing now. My observation from this is it seems turning required move effort than front to back, in my case and any kind of bot that could have drag from additional not assisted wheels.

Max speed I'm guessing apllies consistent to all range of movement? I don’t know if this is possible but if the max speed was linear based on left/right input it would help in situations like this.

Or maybe a turning input max speed boost? Would work by if there was left/right input passed a dead zone threshold boost max speed by x.

On the compensation value I could see some use in that for me my speed is going to be pretty consistent so it would be nice to have some minor tweeking thats easily accessible.

Do you mean spin on the spot speed?

because a forward slight turn speed wouldn’t be doable. Because turning while moving forward is moving forward

Yep the spin, just to give the option for a boost.

Okay - so the max speed for forward/reverse would be one parameter. And a second parameter would be the spin on the spot speed.

ya that’s very doable

Try the new joystick xinput joystick control which has a max spin speed added

Thanks I got to try it briefly and it looked like this is going to work, however, ran into a major snap.

I went out to dinner and came back to do some testing, Flicked on the battery switch and the Sabertooth burst into flames, I'm talking major flames. No harm to the droid killed the battery switch right away.

I have no idea why, I'm completely dumbstruck. Have not touched the electrical, been wired the same way since the start. Going to reach out to robot shop and see what they say. I ordered one right away from Dimension, got a 2 x 25 as they were in stock. I'm just hoping I can get something in place and finishes testing in time.

Hey DJ, I have no way to contact you privately so reached out via Linkedin to discuss something