I wrote an article about it on my blog site. You can find more information there. Unfortunately, it is in Turkish. But you can check out lots of in-depth photos of my robot. http://mertoztoprak.wordpress.com
I put a cylindrical part into the center of rw2i wheel. Then i inserted the wheel into the mould, and casted silicon until it covers the whole cylindrical part. So, i could make the wheels wider that way.
@chriswu, i just measured the inner diameter of the wheel, then using a cnc machine, a made cylindirical part with that diameter, than i put it in the wheel. No extra thing to do.
@vincentroberts, Thank you very much. I spent almost a week to learn how to use basic peripherals on STM32. It was my first experience with an Arm mcu. Drawing schematics, getting the parts and printing PCB took 3 days. I think i spent a couple of days for software development. For the past 2 weeks i had exams, i will start working on my robot again in a week. I am going to post any achievements i gain to my blog page.
i bought it from a local shop in my country. I couldn’t find urethan here, so i decided to use rtv silicon… You’re right, urethan is very expensive even in USA, but it is the best choice for high traction.