Today I went to the practice field to test some things on the drive system. Recently, we increased its speed using gears, but we also accidentally made the robot drive slightly crooked. We are working to fix it. 

– We added one link to the drive chain on the left rear wheel so as to reduce the tightness of this drive. Then chain was too tight, with too little adjustment.

– We changed out the robot controller joystick. The left throttle appeared to be slightly out of alignment causing unintended input to the robot.

– We lubricated all chains and wheels.

– Afterwards, the bot traveled well.