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Re: pic: What's going on here?
Are you guys who are saying that a crab will stay in, or mostly in, the wheel's static friction domain, trying to tell me that crab drives are going to be able to perfectly match their wheels rotation and orientation with the bot's motion vector (speed and direction) AND then, when they want to turn, will be able to magically have the wheel trace out an arc without slipping sideways in the least????
The last time I looked, wheels travel in straight lines and turning a bot required the wheels to follow an arc. Twisting the wheel (even slightly) to cause it to travel in an arc would seem to involve a bit of slip (did I mention that the wheels' rotation and direction have to stay perfectly matched with the bot's velocity vector? - That's the velocity vector that you are trying to change as you turn...).
Color me dubious that a Lunacy crab drive will be able to do this at all, much less have an easy time supplying a non-trivial, static-friction advantage to a Lunacy bot.
Blake
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Blake Ross, For emailing me, in the verizon.net domain, I am blake
VRC Team Mentor, FTC volunteer, 5th Gear Developer, Husband, Father, Triangle Fraternity Alumnus (ky 76), U Ky BSEE, Tau Beta Pi, Eta Kappa Nu, Kentucky Colonel
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