[MrRiedemanJACC]

Cal 578, Funny you should mention the dual omni's - that is exactly what we are wondering about. We already have four omnis from years past and we are going to make our own spacer and put the chain drive down the middle of them. (we want to center the load on the "wheel" bearings). The chain drive is coming from a dual sprocket from the cimple gearbox with two cims. One chain will be to the front with dual omni's the other to the back with traction wheels (possible doubled up for more pushing - moving other teams on the bridge). We think that multiple teams balancing on the bridge will only work if one team makes the decision.

Also we are considering the KOP wheels for the front vs. the dual omnis. We are worried about getting over the bridge even with the dual omnis. We will try to get both sets made up so that we can test and see which one will work. Luckily Michigan has a 6 hour out of the bag rule just for those things... (since we have 2-day events).

Garrett, I didn't speak clearly enough - that is 2 Cim's per side of the robot, so all 4 CIM's are on the drivetrain. We have machined the cimulator from banebot to accept 2 RS-775's for our shooter.

We definitely have variable speed on the drive. It actually goes through two functions to make it more driver friendly.

Thanks for the input!