967 Off Season Project

[Nemo]

Originally Posted by Jibsy

I like this a LOT... Seems to achieve strafing ability without all of the negative side effects brought about by other drive systems (weight, complexity, lack of pushing power, etc).


I am curious though.. I think I'm missing how it manages to slide sideways without pivoting when the strafe wheel is so near the back.
Are the rest of the wheels on break mode such that the front omnis don't rotate, and rather just slide sideways on the mini wheels?
Not the best explanation of my question... but maybe you will understand.

Thanks! When we strafe, in addition to turning the sideways wheel, we also do a turn with the front omni wheels. Those are used to create enough torque to counteract the torque caused by a strafing wheel that is close to the other side of the robot.