This is a newly inspired drive we call the Deka-Drive. It was a reboot of the Dragonfly we designed last off season with all issues discovered, resolved. However, instead of the look and feel of a eight wheel center drop it utilizes the robust design of a six wheel center drop with the increased mobility of omni-wheels. (Below is posted the CAD files and code)
Whats the reasoning for the drop center vs a traditional 4 wheel?