Issues with Drivebase

[GeeTwo]

Originally Posted by EricH

If I might make a suggestion:

You're a little worried about fishtailing, so why not NOT put omnis on only one end, or traction wheels only on one end? Why not put one omni on one end, and one omni on the opposite corner, and do the same with the traction wheels?

See: FRC494 in 2006.

This gives less fishtailing than two omnis on one end, similar stability to a 4WD with all traction wheels, and easier turning than said 4WD all-traction.

To verify my understanding before I do an analysis - are you advising four wheels, with traction wheels on one diagonal and omnis on the other diagonal?

And oh, yes - what was the aspect ratio (track to wheelbase ratio) of that robot? Where was the CoG? Well, now I've got a nice problem to work on in the evenings as I travel this week, If I actually have any spare time.