pic: Prototype Drivetrain

[548swimmer]

Originally Posted by apalrd

That makes it theoretically worse.
Because the diameter of the circle between the wheels is smaller, it takes less imbalance to cause it to stray to one direction.

You must not have understood what I meant. With this drivetrain design and current wheel placement, it will never be terribly easy to control. With this in mind, I figured it would not make it too much worse to pull the wheels in. We also would be able to use a gyro to help keep it straight (we used one for autonomous this year).

As for the banebots, we used them this year and never had any issues. In the past we have used toughboxes, and they kept breaking. I'm not sure exactly how, but I was told not to use them, and I'm fine with that.

I have no intention of powering the omni's because with this design, there is no good way to get power out to them, short of flipping where the wheels are, which would defeat the purpose of this drive.