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Re: Omni wheels?
That depends on how you want your robot to turn. If you mount the omni's in the rear the robot will pivot on a point directly in between the front wheels. If you mount them in the front it will pivot around a point between the two rear wheels.
In our 2006 robot we used this system and found it hard to steer no matter what the configuration. If I had to make a choice I would say to put the omnis in the rear because this allows (from experience) the most normal steering.
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