[Weepy]

Originally Posted by Budda648

You guys didn't have much luck getting up ramps, did you? That's probably the worst part of having a holomonic drive this year, once you attempt an incline you start sliding right back down.

Our ramp dilemma had two key problems:

1) Our omni wheels had little to no traction. Two of them were also bent slightly, but we're fixing that now as well.

2) Due to the mechanical reality of the robot, our normal program designed to drive 'straight' usually made Lola veer to the side or spin a little, if you noticed during some of our earlier autonomous modes. You might have noticed the paper 'hubcaps' with black and white slices of color on our wheels. Those, in combination with sensors which read the rate at which the wheel rotated via the rate at which the black and white slices went past the sensor. We added a program that would cause the motors to 'auto adjust' to the rate of rotation of the other wheels to allow Lola to drive straight.
It didn't work out as well as we wished, since we had to ship the robot before we could finalize the testing.

We're fixing the program right now, and we're keeping skateboard tape for any ramp bots that may alliance with us, so hopefully that'll aid us a bit!