[EricH]

Originally Posted by stinglikeabee

To your above mention of omni wheels, I'm curious why you would consider them in a 6WD drivetrain (from a design perspective). In my experience, the 6WD is built for robust pushing power and stability, I would think that omniwheels would discount pushing power and ability to hold ground in a pushing match.

It depends on the 6WD. If it's a flat 6WD, and you don't have omnis on one end or the other, you'll probably end up not being able to turn well. (You might also be able to get the turning by using different stickinesses of wheels, but that's what omnis do side-to-side.)

If it's a 6WD with a dropped center wheel, then you probably don't want omnis on there. It'll be able to turn a little too well, especially under defense.