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We've not been buldozed much this season, even by very well built 6 CIM tank drives.
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6 CIM, 2 speed, 2" wide natural rubber roughtop wheels? If you're going to champs I would love to conduct an experiment to prove or disprove this statement.
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As soon as any of the wheels leave the ground, though, you've lost at least some of your ~150 lb weight, making it more likely that you are limited by the traction of your wheels, not the power you can deliver to them. And if your wheels are off the ground, you've likely lost the pushing match already.
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Where did your weight go then?? Weight doesn't just disappear- it is transferred. Furthermore, Ff = Fn * u + Fhys. So even if you are transferring your weight to only two rear wheels, your tractive force will remain the same.
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For someone who doesn't not like omnidirectional drives, your post has a very different tone. Everything you say in here is stated as absolutes, and it's just not that clear cut.
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Not true- my post infers that if you a) have capable drivers and b) have a control system capable of making their task intuitive then you can indeed utilize the maneuverability in such a way as to overcome the defences of a skidsteer/tank drive.
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only late last year incorporated a gyro into the driver-controlled code. The gyro improved the performance of the robot, not the ease of driving.
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So how do you differentiate between the performance of the robot and ease in driving- do they not go hand in hand? I think you just proved my point.
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This is true of any drivebase, not just omni drives. A well built drivebase does nothing if the drivers don't have practice time on the sticks.
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It takes far less time to master a skid steer drive train than an Omni or swerve. The telepresence aspect of it is ^2 in any Omni/swerve vs skid steer.