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Re: Casters vs. Unpowered Omni wheels
1293 used casters its first two years. The first robot (whose autonomous was just timing and held breath) would be thrown off-course if the casters weren't right but was otherwise underpowered enough that it wasn't a huge issue. The second one (powered by CIMs) verged on uncontrollable on the field, easily the weakest link in its design. They haven't looked back, going with treads ('07, '10), N-wheel-drive ('06, '09, '11), or mecanum ('08).
2815's always driven all the wheels on the floor, so no experience there. (I would want to know why someone wouldn't power an omniwheel; there are certainly some scenarios, but I can't see those scenarios being anything but a teensy minority.)
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William "Billfred" Leverette - Gamecock/ Jessica Boucher victim/ Marketing & Sales Specialist at AndyMark
2004-2006: FRC 1293 (D5 Robotics) - Student, Mentor, Coach
2007-2009: FRC 1618 (Capital Robotics) - Mentor, Coach
2009-2013: FRC 2815 (Los Pollos Locos) - Mentor, Coach - Palmetto '09, Peachtree '11, Palmetto '11, Palmetto '12
2010: FRC 1398 (Keenan Robo-Raiders) - Mentor - Palmetto '10
2014-2016: FRC 4901 (Garnet Squadron) - Co-Founder and Head Bot Coach - Orlando '14, SCRIW '16
2017-: FRC 5402 (Iron Kings) - Mentor
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