Team 5550 - Fall Project

[Ari423]

Looks good. Two suggestions though:

1. It looks like the wheels are protruding outside of the frame perimeter (assuming there would not be an additional superstructure to increase the frame perimeter). According to 2016 rules, that would be an illegal starting configuration.

2. Right now when driving straight forwards or sideways you only have 2 motors running at a time, which is rather inefficient. Combine this with the fact that you're using omni wheels means you will get pushed around like nobody's business. If you turn each module 45* so they are forming an O around the chassis, when moving forward you will have 4 wheels providing sqrt(2)/2 of force for a total of 2*sqrt(2) of force, effectively increasing your force by sqrt(2). This should make your drivetrain even faster when going straight forward or sideways and make it slightly better in a pushing match (though omnis are notorious for losing pushing matches).