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Plaction and Omni wheels
Ok, so we got our bot up and running last night. Our robot had been unable to turn, but we have omnis in the four corners of a six wheel drive. Watching this thing spin in high gear was pretty crazy. Unfortunately while we were stress testing , one of the treads came off our plaction wheel. We assumed Andymark used a epoxy of sorts to adhere the tread to the wheel, but in reality the tread is only held on by three weak staples. How are we supposed to reattach it? Andymark suggests rivets, but I wonder if that is legal due to rules about metal and the floor. Could we use regular epoxy to adhere the tread?
My other question is why did this happen. Is this a common occurrence? I assume it is because the omni's radius is about .125 smaller making them in effect travel slower at the same RPM. Could this have been that cause of the problem? Do we need to gear the omni wheels so that they are going closer to the same speed? And more importantly, why aren't 8 in wheels 8 in?
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His fall was not a small one.
We did but build his pedestal,
A narrow and a tall one.
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If this strategy backfires on any alliance that attempts it, they will have no one to blame but themselves. Be smart - know the risks before proceeding. - Travis Hoffman [more] 
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