pic: Team 148 - Robowranglers 2010 - Armadillo

[JVN]

Someone asked earlier,
When the traction wheels are down, ALL the omni wheels are lifted off the ground. We further lift the center one to allow for traversing the bumps. On the fall prototype, this wheel didn't need to be lifted so it was just spring-loaded downwards.

Curious about how a drivetrain performs with (4X) 2"-wide high traction wheels located on the outer corners in a "narrow body" configuration?
Check out this whitepaper: http://www.chiefdelphi.com/media/papers/1443
You should be able to tell me how it handles...
This was not an accident, but a desired feature of the Nonadrive.

Also note... we have the front and rear pneumatic cylinders on different solenoids. This allows us to independently drop the front/rear traction wheels. We call this "2+2 Mode." When you're in 2+2 mode, the drivetrain turns about a point directly in between the two lowered traction wheels. This allows the driver some cool handling options.

Our primary drive mode is on 5-omnis.
We only use 2+2 Mode and Traction Mode for specialized operations and circumstances.

-John