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Originally Posted by M. Krass
You can look for examples on, I believe, the following robots:
2002 -- Team 810
2002 -- Team 111
2002 -- Team 467
2003 -- Team 980
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Also, in 2001, 190 used two sets of different sized wheels (essentially, it was a shift on the fly transmission) and in 2003 190 used two sets of wheels mounted at a 90 degree angle to allow us to crab sideways by dropping the second set.