So, in order to give HAL enough time and strength to make right/left adjustments on the straight line speed test we inserted a sleep in each of the right/left adjustments followed by an extra roll forward at full strength to avoid our earlier situation of not enough torque to complete a 2nd/3rd right/left adjustment. This results in what we will refer to as "Chatter" during these maneuvers. This combined with a change in the Minimal Maze code to "drag" the inside wheels during certain turn maneuvers has resulted in several of our wheels working their way loose, without us noticing... We are hoping that some of HAL's erratic behaviors these past couple of days is directly related to not have wheels tight and straight during testing.
After a quick trip to the hardware store Eric installed a rubber washer to help with vibrations and a lock washer to hopefully keep the wheel tight to the hub.
Only the results of test later today will indicate if this has fixed the problem.
Note for Larry... Make sure the wheels are tight in between each competition.