Originally Posted by Ziaholic (Post 790895)

I do not believe that they meant "normal" when they say "normal".

I beleive that they are using the word "normal" to mean perpendicular to the floor. As long as the rotational axis is parallel to the floor, then the wheel is being used in it's "normal" position.

Originally Posted by Daniel_LaFleur (Post 790908)

So if you made omni wheels out of these kit wheels that would be "normal" (since the use would be used as designed)?

**note: I'm not suggesting anyone make omni wheels this year**

Originally Posted by paulcd2000 (Post 790836)

:p that is a very good point... while refs will be less ready to issue ramming penalties, deliberately ramming into the end wall at high speed is probably still discouraged.

Originally Posted by Daniel_LaFleur

So if you made omni wheels out of these kit wheels that would be "normal" (since the use would be used as designed)?

Originally Posted by <R06>

ROBOTs must use ROVER WHEELS (as supplied in the 2009 Kit Of Parts and/or their equivalent as provided by the supplying vendor) to provide traction between the ROBOT and the ARENA. Any number of ROVER WHEELS may be used. The ROVER WHEELS must be used in a “normal” orientation (i.e. with the tread of the wheel in contact with the ground, with the axis of rotation parallel to the ground and penetrating the wheel hub). No other forms of traction devices (wheels, tracks, legs, or other devices intended to provide traction) are permitted. The surface tread of the ROVER WHEELS may not be modified except through normal wear-and-tear. Specifically, the addition of cleats, studs, carved treads, alterations to the wheel profile, high-traction surface treatments, adhesive coatings, abrasive materials, and/or other attachments are prohibited. The intent of this rule is that the ROVER WHEELS be used in as close to their “out of the box” condition as possible, to provide the intended low-friction dynamic performance during the game

Originally Posted by iCurtis (Post 791957)

I would tend to agree with the interpretation that "sideways" wheels are allowed, because the rules seem to clearly spell out their definition of "normal" in the parenthesis following the word.

Originally Posted by Akash Rastogi (Post 790589)

High speed and low torque is the way to go. Try using some encoders in a special way as to create your own ABS. Might just work out better than you plan. Try it out.

Originally Posted by Uberbots (Post 793961)

Why would you use an automatic traction system when there isnt any traction in the first place?

Originally Posted by GUI (Post 790592)

I think it wouldn't be too difficult to figure out if the robot is slipping. If you have encoders and an accelerometer you could compare the measured acceleration to the expected acceleraion at the measured output speed. If the measured acceleration is significantly less than what is expected, you would simply reduce the power to the motors. Does this sound like a good system (I haven't messed with any of the sensors in the kit, but this is what I assume would be the simplest solution).

Originally Posted by AdamHeard (Post 793969)

if you can keep your wheels from slipping, that is a significant advantage. I've heard .06 and .05 for static, .05 and .04 for dynamic. Either way, you lose about 20% of your traction once you start slipping.