Thanks for all the feedback!
I'll probably be building a full scale prototype early this summer once all our offseason events are done. Right now I'm working on an improved CAD verison.
Some improvements:
-Better turret support
-lighter
-Central platform can move vertically downward 2.5 inches via spring if it is lifted off the ground, solving the pushing problem and allowing it to climb ramps to some degree.
Quote:
Originally Posted by Cuog
If you were to power your omniwheels then that would give you the ability to fully control the rotation of the robot.
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You already can, just drive the left and right middle wheels in opposite directions and hold the turret control motor still.