Re: How to turn better with four wheel?
 

Gravity. Friction. The usual, though this does give me an idea:

Dean Kamen created the 2 wheeled segway.

Team 256 will now invent the 1 wheel segway! With 3000 gyroscopes and over 6 lines of code!

Re: How to turn better with four wheel?
 

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

Re: How to turn better with four wheel?
 

We are using all 4 CIMs. We actually aren't experiencing problems since we haven't tested yet (Testing tomorrow, can't wait! :D), however we wanted to know if there was anything we could do to prevent any problems.

Re: How to turn better with four wheel?
 

Ah, then I'd bet you'd be fine! A 6 wheel drive narrow chassis breaks up the wheel base into 2, 28 x 19 rectangles (roughly), which is a ratio of 1.47:1. With a wide chassis, you have one wheel base that is a rectangle of 38 x 28 (roughly), which is a ratio of 1.36:1. Now short of vector analysis, that's easy math that can show you the turning abilities should be somewhat similar; don't expect any major changes.

Re: How to turn better with four wheel?
 

Thanks!

Re: How to turn better with four wheel?
 

Really now? Anything you had to do to get it to work like that? We're currently using 4 CIMs and our robot can't turn.

Re: How to turn better with four wheel?
 

This may be relevant to your interests. (Look at the diagram, then at the final equations; it's pretty straightforward.)