pic: 'I' drivetrain concept

[DaveL]

Nice drawing. Your design looks interesting, but I'm not sure how you intend it to work.
When traveling forward are you able to lift both 'H' or transverse drive wheels or will one wheel always be in contact with the ground?

When traveling sideways, it seems like the driver can choose to use the omni wheel or the traction wheel. How about when moving on a diagonal?
The traction wheel may hinder movement in that direction. it would be worth testing.
I believe team 148 used a pneumatically deployed omni wheel a few years ago. Are they around to comment?

In 2015 we built an 'H' drive for the first time. Tried it out on a practice bot. It was cool seeing a bot move on a diagonal! We used spring tension to put weight on our wheel. If we were to do it again, I would try a pneumatic approach and use the regulator to adjust the wheel force.

Dave