I am currently having an “issue” where my drivetrain is scraping up the field, or so says the other teams I work with. My drivetrain uses 60t gears that are a little bit smaller than the wheels in a speed gear ratio where the wheels and gears spin in opposite directions. This leaves various streaks of light and dark gray on the tiles of the field, which concerns the other teams. The drivetrain has never taken a chunk out of a tile or ripped one up. If you were a ref, would you say this is field damage and DQ me? I have been to 3 different comps and this was never an issue.
It would be possible to be flagged for damaging the field, but it sounds like fairly light damage. If it pulled up tape that would be more suspect.
Going to be up to the HR at the event.
Might try taking off the tire on the center wheels and putting a thin rubber band underneath to slightly increase the diameter. Check if the omnis still have meaningful traction on foam after.
Even aside from the DQ viability, Having the driving gears contact the field at the same time as the wheels, which are spinning in the opposite direction, will cause huge inneficiency in the drive. If you are running out of time to fix it, a simple way to get around, or at least minimize the problem is to replace the current omni-wheels with the old, green rubbery omni wheels, pictured below
These are very slightly larger in diameter and grippier than the wheels currentley on your robot, and should at least partially alleviate the problem at hand.
