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Re: pic: Omnibot
Kiwi drive/Killough platforms are generally not any more stable than the 4-wheel holonomic drives. The arc lengths between wheels are larger than for the 4-wheels, meaning more area to tip. As for spacing the wheels out of a perfect square, yes, it works, but buy moving them out one more inch, you will require code of much greater complexity because of the angle calculations you will have to use to get the same effect. With the new control system, that shouldn't be a problem memory and speed wise, but it's just more things to crash in the program. Nice design, it's pretty!
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