[gpetilli]

For the first time this year, we designed a Killough (omniwheel) style holonomic drive. We did not put encoders on each driven wheel, but instead built a "pedometer" from 2.75" Vex omniwheels and Vex encoders. We designed and 3D printed an orthogonal fork assembly (with pocketed bearings) to hold the two follower wheels and encoders plus two pivots to ensure both wheels always touch the ground. This pedometer is an integral part of our drive PID loops.