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Re: 6 wd power
If you aren't powering every wheel on the ground, you aren't getting maximum power. You're losing a little due to the normal force/friction on the other wheels that you aren't taking advantage of.
Omnis on the corners depends on whether or not you drop the center wheel.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk
 
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