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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Quote:
Originally Posted by EricH
I've seen this effect used on many a robot. If you can harness it to pivot around the point YOU want it to, it can be a very useful tool. If you can't, it can cause some trouble.
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This was very useful for many teams (mine included) in 2015. If you didn't want to pull totes into your chassis, or at least not all the way in, you could use traction wheels on the front and omnis on the back so that your center of rotation was as close as possible to the center of gravity of the stack.
That being said, as a driver who is used to center drop or something similar, it is quite jarring to get used to at first.