Quote:
Originally Posted by msigalov
But what difference does it make? We can't get pushed back onto omnis by another robot since the piston controls the switch.
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It depends on how high you lift the omnis, or more likely push the traction wheels down. If the omnis aren't above the line between the bottom of the traction wheel and the bottom of the rear frame or bumper, then yes, you can be pushed onto the omni. Many (most?) butterfly/grasshopper designs do not articulate this far. With the traction wheels on the corners, you have a longer wheelbase, making it harder for another robot to lift your traction wheels through pushing. You also reduce turning ability while in tank mode, which is probably why most butterfly and grasshopper designs I've seen have the traction wheels near the center and the holonomic wheels on the corners.