At first, all of the electronics were placed down in front near the drive motors. However, we found that this made it hard to get to the boards, so we moved everything up above the casters. This made life much easier.
The layout of this robot is simply beautiful, so clean and symmetric. It is so powerful as well. I have added the zagrorobotics site to my links, I can see wanting some of those motors one day. Wonderful work, thanks for showing it to us.
I also use a 3" castor. I drive the robot caster first and found that it has issues with a lot of little edges. I use my robot at work to carry computers and printers around. So these are “Real world” results. My robot can drive wheels first over these obsticles and easily drag the castor over them but it won’t drive castor first over them. My wheels are 6" and I am looking for a caster close to that size for my next version.
