Quote:
Originally Posted by asid61
If you get pushed from the side while in x mode, then because the contact patch with the floor (ideally) is a line or thin rectangle, the pusher will torque the wheel sideways a bit like a caster. It seems like it would take a ton of force to shove those wheels back into a straight position, but it is doable. I'm sure that the robot will lift before that though.
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Theoretically it's a line, if your wheels and the floor were both hard and solid, ideally it's as large a rectangle as you can make it because with tread on carpet the physics class friction model goes out the window and surface area is quite important. But 45° wheels pushing from the side should be identical to pushing from the front. You are right though, it's quite hard to turn a (for us) 100:1 braked planetary gearbox. As for lifting, unless your bumpers are higher than your opponents there is no force that is going to lift your robot. Infact, if your bumpers are lower they will be pushing you into the floor a small bit, increasing your normal force and your friction.