[Galum]

We're changing the gear ratio of the steering motors in order to achieve faster steering and hopefully preventing vulnerability to "hit and run" or pinning defenses. Worst case - we'll change it back, we just figured it'll be worth the shot.

The main advantage of having omni-wheels there instead of last year's rover wheels (or other slick wheels) is that the "head to head" traction is higher, so we can actually execute defense. On the other hand if pushed from the side their traction is virtually non-existent. On the other other hand, pure crab drives (which against my better judgment, this is) main flaw is rotation/turning, with omni wheels at one end we can rotate fairly smoothly which balances it out.

Again, we'll see how it goes ;-)