Quote:
Originally Posted by Storcky
Our team used two omniwheels in the front and two driven traction wheels in the back. The only problem with it was we could not get the omnis to stop turning when we wanted them to. This resulted in the front of the robot continuing to spin after we expected it to. Also, although they were very manuverable, another disadvantage that it was nearly impossible to go straight.
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It sounds like you might have the center of gravity of your robot too far forward for easy controllability. Putting it closer to the traction wheels would help things a lot.
When I joined the TechnoKats as a mentor, my first real programming challenge was to compensate in software for exactly this situation. The code detected the rear wheels' rotation (Banner optical sensors pointing at alternating reflective/nonreflective sections of hub) and adjusted the relative power to the left and right side motors in order to keep the wheel speeds consistent for perfectly straight travel.