We have pretty much the exact same system on our machine, with the same mecanum wheels. There are only a few differences. First, we have a 6:1 reduction to the traction wheel. Second, the auxiliary wheels are tractioned with Velcro (works incredibly well). To address this-
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Any issues with wheel speeds being different? I'd think that could be abusive on the mecanum wheels- having them running at a different speed than the traction ones. Any jitterring or efficiency losses?
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When we actuate the "drop drive", as we call it, down, it tips the bot forward so that we have the two traction wheels and the two mecanums not connected to them contacting the floor. There is then a function in code that drops the speed of the mecanum wheels to 1/6 of their normal speed to make sure that the mecanums and velcro wheels run at the same speed.
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