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[Andrew Schreiber]

The slipping problem could potentially have been minimized by using non powered wheels as well. This is the approach we may be using next year if we decide we need positioning.

Thank you for the idea of limiting acceleration. I dont know why that didnt come to mind.

[billbo911]

Originally Posted by Andrew Schreiber

The slipping problem could potentially have been minimized by using non powered wheels as well. This is the approach we may be using next year if we decide we need positioning.
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We considered this as well. It makes good sense that it would work, but not for the drive train we had last year. We had a dropped center wheel design. The acceleration would cause the system to rock and the front and rear wheel would not ALWAYS have contact with the carpet. So, consistent results would not have been attainable. The other reason we chose the approach we did was purely based on time. The code took 10 minutes to write and download. The change to move the sensors to the outer wheels could potentially have taken days.