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heh, I built an omni directional drive base using the RIS. I took those wheels you used, deprived them of tires, and then spent hours and hours searching through all my blocks for all the little peices I needed to turn them into omni wheels.
Its of the thre-wheeled variety . . . . I've yet to perfect the program. Its ugly as hell, but it works beutifully.
I used the mid-sized pulleys to get the wheels to be 60 degrtees apart . . . . maybe I'll post pics sometime.
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