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And you know what is even better than turning all your wheels toghether? Turning all your wheels independently! and driving them independently too. If you do that you can (with the proper software) move in any imaginable pattern across the playing field, with no loss in stability or friction (as would be associated with omni-wheels). It is simply a matter of assigning a vector to every wheel on your robot, then turning and driving it to that vector.
Fun huh?
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