pic: 1710's Recycle Rush Chassis

[Woolly]

Originally Posted by Jpatterson1710

If our traction wheels are spinning at our desired RPM, it doesn't matter what the casters do as long as they're supporting the front of the bot. They're simply used as a low friction support to the front of the bot.

While it's great to think outside the box, it might be an idea to replace the casters with omni wheels for reliability sake. In the event of a code, electrical, or general sensor issue, it would be trivial to have a way of toggling back to a simpler teleop drive code that doesn't use the encoders. That way if something of that nature goes wrong, the robot doesn't become completely un-drivable, nor would it make the robot control like a wet mop on a 54 foot pole.