Team 3072 went with pneumatic tires in the center, with omnis on the corners in a 6wd configuration. We also used Bimba pistons and custom designed plates to give our omni wheels suspension. We can raise and lower the wheels to give us better angles at things, and to help with shooting. We decided that this would give our robot an advantage, considering how high the RW is, not getting stuck in the moat, and helping absorb impact when ramming into things.
