[matthewdenny]

The friction isn't really an issue because the each wheel now only supports half as much weight. The advantage for us is that there is less torque on the shaft supporting the wheel going through the bevel box and on the associated bearings.

It may ultimately end up being okay to have only 1 wheel, but we'd have to test to see. Also with one wheel depending on your maneuvering the actual wheel base would constantly be changing slightly in size, which could affect how you turn. This could probably be addressed in code if needed though by creating a dynamic center point of the robot.

Also we thought it looked kinda cool.