pic: drivetrain idea (comments please)

[EricH]

Originally Posted by sdcantrell56

Unless you want to not be able to turn well at all and potentially trip the breakers whenever you attempt to turn you have to lower the center wheel. [...] The only way to not lower the center wheel is to use omni wheels in the corner to allow slip while turning.

Careful about blanket statements like that. Team 25 doesn't exactly drop their wheels (to my knowledge) and they still turn easily. I'm not sure exactly how they do it. It sure doesn't affect the rest of the robot, though. There may be one or two teams who use similar setups.