Quote:
Originally Posted by bigbeezy
Personally I think using omni wheels on the corners is a bad idea and I strongly advise against it. As a driver, whether on offence or defence, if I know that you have omni wheels on ur corners I will use them to my advantage. They may make your robt easy to turn... but that just makes my job a whole lot easier. i just tap ur corner and you spin like a top. I can pretty much push you where ever I want and you can't do much to stop me.
From past experience the "rocker" is the best method of 6wd. if you can keep your CG rather constant (like not moving from front to back alot) you probabilly wont even notice a rock. Just be sure to keep the friction down on your corner wheels (i.e. only use 1" wheels if using high traction tread). This will still allow you to turn easily but give you enough traction so if pushed you still maintain control.
IMO...
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We are able to set up our robot, with encoders, to actively seek the last input state. If the robot wasn't turning and you try to spin it, it can automatically fight the rotation and hold its heading.
We don't usually run the robot that way -- it's not worth the headache of tweaking and tuning the PID values -- and we don't really have many problems with people spinning us around.
Different strokes for different folks.
I wonder if we sang songs to Bill Miller if that would get TIMS opened sooner, like the way it worked to wring game hints out of Dave Laverly. - rsisk [more] 
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