Physics of T-boning

Originally Posted by Bryce Paputa

When you are trying to get out of a t-bone, you are trying to move forwards. With omni wheels, you should be able to do this pretty easily, with some extraneous sideways movement. Unless you're trying to do something like hang on a 2007 goal, I think this is better than being pushed halfway across the field.

You are correct that the lack of horizontal traction allows you to keep moving forward, but you don't just slip by because of the friction between the bumpers. What ends up happening is the pin starts moving in a circle due to the bumper friction pushing perpendicular to where the robot is driving away.