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Originally Posted by Shu Song
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4. Our team has always scorned casters. Unless you're really short on weight, don't use casters. Just connect the wheels that are motored to the wheels that aren't (with chain). As for improving mobility? it really doesn't. Just think of a shopping cart, there are two casters in the front. It moves forward well enough, but when you need to back up, the cart fish-tails like crazy and you lose control.
5. Speed and mobility is VERY important, especially this year. Imagine you have a bot that takes about .5 second to set up an accurate shot, if there is another bot that is constantly hitting you and you can't get free then you can never get a shot off. But if you were faster and more agile then the defender you can drive away, set up and shoot and keep moving. There are prolly a lot more situation where you want to be very agile, but this one will do.
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Couple of added points.
4. If you want to turn quickly, use omni-wheels as your front wheels. Don't know what they are?
Check them out here. (I pointed these ones out becuase they're small, which I assume you were going after) You can also get 6" and 8" omni wheels (aka trick wheels) from Andymark.biz.
5. In this year's game you'll need to traverse the field quickly. If you are shooting, traction will probably be very important to you so you can stay in one place and shoot balls. Since blocking the two corner goals will be relatively easy, you're going to have to do one of two things, beat the other alliance there, or push them out of the way. It's up to you.