1640 did 4 wheel independent steering with each wheel independently driven and continuous rotation on all wheels with no gaps in the absolute rotary non-contact sensors and implemented a least distance algorithm to determine whether to reverse direction and rotate a little or make a longer rotation in 2010. It was a major effort but it worked and has amazing capabilities. However, we still need to work on the presentation of all those degree's of freedom to the driver. We call it the " PIVOT DRIVE". To any other team that wants to go down this path I would ask them to seriously evaluate their resources to accomplish it. A page with a little description.
http://wiki.team1640.com/index.php?t...VI_Drive_Train
Yes, I am very proud of the group of students that made this happen.