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Drive Control is weak and not straight
Try to make the Reaction faster
odrv0.config.gpio4_pwm_mapping.min = -1
odrv0.config.gpio4_pwm_mapping.max = 1
odrv0.config.gpio3_pwm_mapping.min = -1
odrv0.config.gpio3_pwm_mapping.max = 1
Not enough Speed
Try to make the Droid faster.
PWM Controller Input GPIO 3
odrv0.config.gpio3_mode = GPIO_MODE_PWM
odrv0.config.gpio3_pwm_mapping.min = -2.0
odrv0.config.gpio3_pwm_mapping.max = 2.0
odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._input_vel_property
odrv0.axis0.controller.input_vel
PWM Controller Input GPIO 4
odrv0.config.gpio4_mode = GPIO_MODE_PWM
odrv0.config.gpio4_pwm_mapping.min = -2.0
odrv0.config.gpio4_pwm_mapping.max = 2.0
odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._input_vel_property
odrv0.axis1.controller.input_vel
Try to change
odrv0.config.gpio4_pwm_mapping.min = -3.0
odrv0.config.gpio4_pwm_mapping.max = 3.0
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