The wheels are slipping on the floor if we go fast back and forth…
Check correct wheel radius by going relatively slowly forward for a long time
Check correct robot_width by
23,17
^ Deltas at Width=14.9 ^
19-17=-2
21-17=-4
23-17=-6
20-17=-3
19-17=-2
23-17=-6
21.5-17=-4.5
23-17 = -6
Hardware
Ben (head TA) suggested:
Increase the size of the wheel base of our robot (so that more encoder ticks are needed to turn the robot, resulting in slower speed and more accuracy)
Gear down our robot (increasing torque, but also requiring more ticks per robot revolution and slowing down the speed)