Quote:
Originally Posted by Ari423
What was your motivation for making the H chassis have two Colsons and two omnis? It would make the CoR be between the Colsons all the way in the front of the robot. While this would take away almost all the scrub forces in turning, I imagine it would also make it harder (less intuitive) to drive. Am I wrong?
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I believe that would only be the case if the chassis were a 2 wheel drive, with the two motors on the Colsons, with the omni's moving freely. By using a 4 wheel drive, with motors on the Colsons and Omnis, the same force(or similar enough, not quite the same due to the different wheels) is being applied by all 4 corners of the chassis, and therefore the CoR should be somewhat near the center. I'm not entirely sure in my reasoning, so I may be wrong.