We have been having trouble turning, so a student of our suggested until we get normal omnis for our robot, we use PMOs "poor man's omnis", basically the plaction wheel without any tread. We have a 4WD wide configuration, and would have the PMOs in the front right and back left wheels of our robot with the front left and back right treaded.

What are your thoughts on this? Is it safe to do (will it break the plactions)? Do we loose anything significant by doing this instead of omnis?

Thanks, and enjoy your last 5 days!