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Re: drivetrain!!!
Some pros we came up with:
-fast, easy to control
-lighweight (compared to our 6wd or mecanum)
-cheapest (by far)
-super duper awesome.
I think it will end up being more meneuverable than people think; you don't necessarily have a giant turning radius. With an ackermann type set up you can get a turning radius of about 14" (to the inside of the robot), and with some programming tricks with the back wheels, you may be able to get it to turn on the spot.
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