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Originally Posted by troy_573
... oh yeah and i hate the 4 wheeled holonmic drive, it limits manuverability to fowards/backward and side to side  |
Let me add this little experiment to George's comments:
Start with omni wheels that have the rollers in the plane of the wheel.
Build a rectangular chassis with a pair of omnis "front and back" - aligned with the chassis's latitudinal axis - and a pair "side to side" - aligned with the logintudinal axis. (we created a prototype with a piece of plywood and 4 rechargable Ryobi drills ... with a little creative soldering to wire the speed controller outputs to the battery contacts)
Load the IFI default single stick code into the FRC
Rotate your chassis 45deg AND rotate your single joystick 45 deg.
Now try out the maneuverability of 4-wheel omni
OK, now, rotate the joy stick back, and do the rotation in software
Finally, add a second stick, that will superimpose rotation left or right on top of the translation stick output
Add a yaw rate sensor to detect drift (rotation) due to drivetrain irregularities and output additional "opposite rotation" for correction ... and viola!
That is the essence of what we used last year...
eric