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Re: Drive Train Questions
If you direct mount the wheel to the supershifter (which is very possible), I would advise getting the 2" longer shaft that is sold seperatly and supporting it on the other side of the wheel as well to prevent ugly side loads.
4wd and 6wd are very similar if you are using a combination of omni's and conventional wheels. It's just a matter of the location of the turning axis. It is also important to know if you want to do a 6w or a 6wd. 6w like I think you are talking about would be 4 unpowered omni wheels and 2 powered conventional kit or traction wheels in the center. So it would be a 2wd.
However, 4wd with wheels in the back and omnis, casters, or skids in the front should be nimble enough to get you where you want to go. The rotation of your turning will be in between your two conventional wheels.
On a 6w design, your turning axis would be centered on the robot.
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Team 171 :: Cheese Curd Herd :: College Mentor, 2008-Present
Team 269 :: CooneyTech Robotics :: Student, 2005-2007
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If the GDC made a game that consisted of driving in a straight line, it would probably be the hardest game in FRC history. - themccannman [more] 
16-01-2008, 11:07
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