Quote:
Originally Posted by DampRobot
Yep. We like the ease of turning that they buy us, and their anti-defense qualities. It's a ton easier to T-bone pin a robot with all traction than with omnis. We'd rather slide out of the way and keep driving than have us locked up by defense for 30 seconds.
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Have you actually tested this and found it to be true with your current wheel setup? I do not see how this would turn any better than a drop center with all traction wheels. Your traction wheelbase touching the ground is the same in both cases.
Also, I can see how the omni wheels will help you avoid T-bone situations if you are being contacted between the center traction wheels and the end of the robot with omni wheels, but you will be just as T-boneable from the section of your robot between the center wheel and the end of the side with traction wheels.
Why did you decide to include the middle wheel? Having just four wheels with one end omni and the other traction would let you turn better and make you almost impossible to T-bone.
-Mihir Iyer