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Re: Drivetrain where motors are on the same axis as the chassis sides??
Back when drill motors were the drive motors of choice, a lot of teams used worm gear systems to couple the motor to the wheel. The ones I have seen put the motor shaft in the fore/aft robot direction; some could have been oriented vertically.
This made motor bias a non-problem, either incidentally or by design, as the motors would both be turning in the same direction when the robot was moving straight.
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