Quote:
Originally Posted by Bryce2471
Yes my intent was to support that claim. The only time scrubbing would be involved is when translating arbitrarily, and rorating at the same time. I believe that in that case, the 6 CIMs would be able to power though the scrubbing, given the gear ratio and width/length of the drive base..
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What wheel angles and wheel speeds would you use to make that bot pivot around, say, the front left wheel? (a common swerve maneuver).