pic: BCRDrive- everything Nonadrive does, except comparable!

[remulasce]

Yeah, the angle is overexagerated in the drawing. Having the omnis as close to level as possible with the treads compensating with more angle might work better, but the quality of my pencil limits my design-in-calculus-class abilities. In a real build, the non-contact wheels would be barely off the ground at all. I hadn't thought of it before, but yes, the driving hub should be at the same height as the connectors, unless we did something weird with the arm linkage. I had thought about pneumatics, but didn't know if they would be strong enough, and having a motor gives a lot more control of the angle. In tread mode, it might be nice to put the omnis down just a little bit to make it easier to turn. Some sort of variable traction control.

Right now we want to stick with the Breakaway base, but that could change pretty quick on Saturday morning.