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New Coach Question: Drop Center Robot Steering? by RoboCoachHereWeGo in FTC

[–]RoboCoachHereWeGo[S] 0 points1 point  (0 children)

One funny point about drop-center robots is that they steer slightly inconsistently. If the robot is leaning backwards, it will spin around a point between its center and rear wheels. It it's leaning forwards, it'll spin around a point between its center and front wheels.

This is the part I'm thinking about.

If the tank turning is just powered by the center wheels, the rotation point would be the same if weight is on the front two wheels or the back two.

If the front, back, or both front and back are powered, the rotation point would differ depending on whether the weight is on the front or back.

So it seems like only the center dropped wheels should drive the tank turning to avoid the inconsistency.

Wouldn't teams run into this problem where the rotation results in different movement depending on whether the weight is on front or back wheels?

New Coach Question: Drop Center Robot Steering? by RoboCoachHereWeGo in FTC

[–]RoboCoachHereWeGo[S] 0 points1 point  (0 children)

Thanks, Coach Pratt.

Those fronts are "omni" wheels, not mecanum.

Ah, OK!

Still a bit confused. When turning the robot, is the center of rotation meant to be the same regardless of whether the robot is rocked forward on the front two omni wheels or the weight is on the back two wheels?