pic: Prototype Drivetrain

[apalrd]

Originally Posted by 548swimmer

I am expecting this to be hard to control, and thats why I pulled the wheels toward the center.

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.

We had a 6 wheel drive in 2008 that was flat, with 4 corner omnis and 2 center plaction wheels. It was too hard to keep it driving straight, for a second year driver, so we replaced the outer rear wheel with a kit wheel to add a little more friction sideways.

If it doesn't veer that much, you can probably fix it in software using a gyro. It has to be somewhat controllable for the software to work.