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If you want to see a robot that pulled it off, look in the archive under the 2001 Chief Delphi Robot, it had 4 tread steer, 4 tread independent drive. The only drawback I see is 8 motors needed to do it. Otherwise you can get most of the advantages with6 motors having the front/rear independent or side/side independent. If you want more info on it, leave me a message, I can provide prints and Code for it.
B.T.W. The most difficult part for us last year was getting the vector off the rectangular coordinates that the joystick provides, then you steer the wheels with a feedback loop to match.
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