pic: Butterfly Drive Concept

[asid61]

Originally Posted by RoboticDaymon

Yep this is why it was designed like this. Also I wanted to ability to have a 2 speed shift with the wheels at a 1:1 ratio so this seemed like the simplest solution. Also the next iteration of the design will (probably) have the traction and omni flipped.

You do lose some functionality compared to making the traction wheel smaller, but do you think the loss pushing resistance of this drive is worth the lower gear in omni mode?
Might want to rethink that 6-cim drivetrain. The Roborio browns out so easily...