Quote:
Originally Posted by pntbll1313
He has learned to go with the push and spin while still providing force in the direction he wants to go. This is not always possible with tank.
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I think this is one of the biggest takeaways here. Notice in the video that we never get into a pushing match per se; the robot is always still moving in the direction we want to go. The mecanum wheels allow the robot to provide force in the opposite direction we are getting pushed (thus preventing us from getting slammed into the wall and stuck) while simultaneously slipping away towards our target. We are strafing in a circle around the pushing robot.
This provides a clear benefit, as there isn't much a tank drive robot can do to counter it. They can't rotate and keep pushing us nearly as well as we can slip away from them, and it would take a lot more maneuvering for them to reposition themselves in front of us as we slip away.
Our reaction to a head-on pushing match is never "keep pushing back and hope we win." Our reaction is to slip out and around the robot.