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Re: H-Drive Strafing issues
It is possible to make a ridged mounted H-Drive work, but not work well.
In 2015 we gave H-Drive a try without realizing the need for the center wheel to be articulated, by the time we were done we had offset the center wheel 1/16"-1/8" below all the other wheels on the robot, this resulted in some very odd rocking in the chassis and the strafe only worked about 75% of the time (because the carpet floors are never perfectly flat). It wasn't accurate enough to use during autonomous, but driving it manually it worked ok.
If I had to build an H-Drive again though I would definitely put it on a suspension.
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2005-2008: FRC 703 Phoenix - Driver
2009-2016: FRC 703 Phoenix - Mentor
2017-????: FRC 5712 Gray Matter - Mentor
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