We’re into Week 2 and we have started finalizing our designs. We tested out an option to lower only a single wheel to allow us to strafe and it looks like this will work for us. We aren’t planning to strafe very often, only for small adjustments when stacking and for autonomous. This means we didn’t want to dedicated a ton of space or weight to make it work. The plan is to use the same 2+2 drive train we’ve been planning but also having a drop down 2.5″ Colson wheel between the two front wheels. This small wheel will drive us sideways in an arch, to counteract the arc we will have our rear omni wheels turning at the same time with feedback from a gyro. This will compensate for the rotation and allow for short bursts of horizontal travel.
“Have a plan. Follow the plan, and you’ll be surprised how successful you can be. Most people don’t have a plan. That’s why it’s easy to beat most folks.” – Paul “Bear” Bryant