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Re: pic: McCannot Wheel
Spoiler alert: the rollers don't spin when the wheel is driving forward or back unless they are losing traction. Same as any independently driven wheel. If they are spinning it means that you can make modifications to the drive train to increase its performance.
You can test this your self by slowly rolling then and marking the roller's position. Just make sure not to wobble or translate the wheel while you do it.
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