[Dave Scheck]

<EDIT>Chris beat me to the punch!</EDIT>

Akshay

We (111) faced this problem last year. The traction on the wheels made it very difficult to turn in place. While it was possible to do, it caused a great deal of stress to be placed on the drive modules.

We ended up using a pneumatic foot to raise two of the wheels off of the ground to reduce the friction. The foot had a smooth surface that acted like a skid plate, allowing near zero-point turning.

I've attached a picture of the underside of last year's robot. The primary foot can be seen at the bottom of the base. There's a secondary foot on the left for when we went into what we called 90-degree mode. That mode made the stacker side the front of the robot to make the driver's life easier. The stacker was removed at the first regional last year, and I don't think the second foot was ever used after that.