6WD Pros and Cons

[Madison]

Will everyone that's made comments about omniwheels on each corner of a 6WD system that has first-hand experience with that configuration please raise a hand?

Our robots will be disappointed to learn that, among other things, they didn't handle inclines well.

http://www.chiefdelphi.com/media/photos/28462

http://www.chiefdelphi.com/media/photos/23716

Our prototype chassis had its endmost wheel raised 1/8", but the next iteration of the design eliminated that and replaced it with a single set of omniwheels on one end. My team was urging me to go back to omniwheels on all corners, but I've been resisting. This thread is making me reconsider the decision -- we've had good success with that setup for the past two years and there's no use in changing a good thing. "Mr. T," as the prototype has been affectionately called since we "pity the fool," will very likely have omniwheels on all corners in 2008.