We started working on the drivetrain. On the old robot, we used mecanum wheels, but when we went to the competition, we realized that that was not the best idea, because although it was useful to align with the goal, it was much slower than teams with omni-directional wheels, therefore we decided to change that. To cope with the inability to move side to side with our robot, we built a triangle, which fit perfectly in the goal frame, which helps aligning the robot with the goal and also made it harder for other robots to push and shove our robot out of the way if they were blocking the goal.
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