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Re: Hypothetical Situation - Stairs
With an auger drive, how would you turn? You can't run one side forward/one side backwards, that would make it drive straight. You can't run both one way, that would make it strafe.
I don't think it would take as much torque as you think, since you are transferring the power to the floor approximately the same as you would in a mecanum drive. That said, you could always go with 2 CIM 1 FP per side (and have more power than 5 CIMs total) and leave a single CIM for whatever mechanism you want to build.
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