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Originally Posted by Dave.Norton
One remark if I may; we did a holonomic drive this year and there was so much slip in the wheel to the surface that indexing the drive motors wasn't going to be useful.
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We have found that the hardest part of making the holonomic drive base was getting the wheels to have traction, pretty much all of our experimentation went into the rollers to get the most traction while having the rollers roll. So tracking the wheels is a very viable system.