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Re: outsmart the friction?!
If you can't drop the center wheels you can purchase two omni wheels or use lower friction wheels on one end of the robot.
As much as I like to blame programming for everything, this isn't their fault 
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"Champions are champions not because they do anything extraordinary but because they do the ordinary things better than anyone else." —Chuck Knoll
2015 Indianapolis District Winner
2014 Boilermaker Regional Industrial Design Award
2013 Smoky Mountain Regional Industrial Design Award
2012 Boilermaker Engineering Excellence Award
2010 Boilermaker Rockwell Innovation in Control Award.
2009 Buckeye J&J Gracious Professionalism Award
2009 Boilermaker J&J Gracious Professionalism Award
2008 Boilermaker J&J Gracious Professionalism Award
2007 St Louis Regional Winners
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