[randantor]

Originally Posted by RyanCahoon

What are your thoughts on using something like Ether's Halo Auto-Rotate controls with an H drive?

After offseason modifications, our center wheel is now pneumatically actuated, so it isn't in contact with the floor when we aren't trying to strafe. There is a noticable difference in acceleration when the wheel is down because we lose weight from the other wheels. The center wheel output follows a half-second ramp from 0 to full power, and the time that it would take for it to add any useful speed is much longer than it takes for the robot to just turn without it.