[FTC]: Caster?

[pilum40]

I'm just a teacher, not an engineer and wanted to see if we could use a caster (360 degree mounting). Some of my sophomores had an aha moment and wanted to build a triangular shaped robot with a caster in the back to facilitate turning. I won't crap in any student's hat when they bring an idea to the table. Just wanted to know if this caster assembly would violate COTS rules of one degree of freedom. I'm thinking probably because it can rotate 360 degrees. If so, it should pass because it only goes back in forth in any direction except vertically. If not, I'll get them to prototype the design in wood for viability. If we don't use that were thinking a couple of Mechanium wheels in the back for turning. Our front wheels are 8", 8 pointed stars that were 3D printed and covered with rubber edging. They navigate the churros without incident, don't mar the floor pads and were fun to build. Any pearls of wisdom would be appreciated. If not a 3 wheeler, we'll just add 8 inch FRC wheels with an FTC hub adapter on the back to handle the churros on the ramp.