The plan was for the drive system was to have the drive wheels at the front allowing K9 to be able to move over rough ground however after buildinbg this drive tray with the drive wheels at the front and the caster at the back getting K9 to run in a straight line was almost impossible. Even though I had spent loads of time building this drive tray I have decided to change the design and put the drive wheels at the back. I will lose the ability to move over rough ground but to be honest if I dont chage the design I will spend more time repairing K9 due to crashing due to poor control.
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