Okay, time to brag just a little about 122's drive train. We have four wheel drive and love it. The downside to having four wheel drive usually is turning - wheels
have to slip side-to-side and the center of rotation is around the center of the robot. We however, through an incredible amount of labor, made omni-wheels, or regular sized wheels with many smaller lexan wheels that spin side-to-side. The result is that our robot had absolutely no trouble going up the ramp with two loaded goals, but could still turn quickly around its rear wheels. Our rear wheels can then also have as much traction as we can give them, without having to worry about being able to turn. The ridges in the mini-casters also helped a lot in being able to climb up over the wood block under the bar.
~Tom Fairchild~, who's getting off his high horse now.
