Just a few questions about your gearbox and chassis design:
- Is there a tendency for the gears to get stuck while switching gears in motion?
- While it's stationary?
- Are there ever issues with the chains on the sides falling off or becoming jammed? (Especially if hit by objects, like the rings or other robots.)
- What is the purpose of the omni-wheels? It looks like they are suspended in mid-air and aren't actually used to support or drive the robot.
- Is it necessary to have 2 motors per side?