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Re: AndyMark DuraOmni upgrade worth it?
One thing you may want to consider is that a drivetrain consisting of all omniwheels will be very easy to push sideways so it's likely that if any robot wants to hit you from the side you'll end up sliding sideways a fair bit. To deal with this you may want to consider replacing the center Omni wheels with another wheel of the same size that isn't Omni but is something like 6in kop chassis wheels. This will make you harder to push around but will give you the turning benefit of the Omni wheels due to the outside wheels still being Omni wheels
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