WillB97
commented
3 years ago This is not actually a bug and is simply a side-effect of the "rear wheel steering" type setup we are using. Since turning one way causes the back to swing out in the other, on-the-spot turning while close to the wall will cause the rear of the robot to collide with the wall and prevent the turn.
Ultimately this is a movement challenge that teams will need to overcome when designing their movements.
We've had a team report that when their robot collides with walls at oblique angles it becomes trapped by the walls and can no move.