[Knufire]

I'm surprised at the reactions in this thread, I had always thought that follower wheels were a way to get more accurate odometery than encoders in gearboxes.

The problem with encoders on your drive wheels in a skid steer drive is, well, the fact it's a skid steer drive. You're relying on wheel slip to turn, which means your encoders are going to read farther than they do.

With two follower omni wheels (perpendicular to each other, one facing forward), the wheel will (theoretically) only spin while moving forward and slip, but not rotate, when you move sideways.

I know 33 had spring loaded follower wheels in 2014.