[ufa_mike]

I have thought about building a feedback system for a robot that controls slip on the wheels, and keeps the robot going where u want it to go.
I have figure that the best way to do this would to be having four seperate gearboxes driving four seperate wheels. THen a shaft encoder would provide feedback for the program to make sure all four wheels are moving at the same speed. The friction a wheel delivers when it is slipping along the ground is much less than if it were not slipping along the ground. SO if one of the wheels hits the ramp like in this years game, that wheel would emidiatly slow-down. On the regular system the other wheels would start slipping and lose the traction ability to push the robot up the ramp. In my system the other wheels would slow down aswell until there are spinning the same speed as the other one and gain maximum tractiuon to push the robot up the ramp.