pic: Octocanum Module

[GeeTwo]

Originally Posted by Chris is me

This is a really bad idea from a durability perspective. If you make the traction wheel the pivoting wheel, you will have to deal with a lot more sideways loading on the module than if a wheel with rollers is the pivoting wheel. This has been a documented problem in other drop drives (e.g. 148's 2010 drivetrain) and isn't recommended if you don't have a really robust way to deal with the side loading.

With omnis, I would agree with you. However, mecanums generate as much side force as forward/reverse force by design even when the robot is driving directly forward. With octanum, I'd consider the traction wheels as having less sideways loading under most conditions, probably only exceeding the peak mecanum side load when being T-boned. And in that case, the solution is to switch to mecanum and strafe your way out of the t-bone, or at worst into a legal pin that (under most years' rules) is time limited.