3 wheel swerve
 

is there a reason that you never see 3 wheel swerve? It seems like it would free up a CIM for whatever shooter/actuator etc you might use. Or just save weight.

Re: 3 wheel swerve
 

Team 16, the bomb squad, is well known for doing 3 wheel swerve.

Re: 3 wheel swerve
 

team 67 did one also in 2005
http://www.chiefdelphi.com/media/photos/21751

Re: 3 wheel swerve
 

Hmm. I guess I just never saw them.

Is there a reason it is not as common?

Re: 3 wheel swerve
 

Mostly its for stability reasons, I know bomb squad is enjoying the recent switch to 4wd swerve, in 2010 they looked like they were going really fast because it rolled around every corner, it was fun to watch.

Re: 3 wheel swerve
 

Didn't only one of those wheels rotate? Or am I forgetting my FRC history?

Re: 3 wheel swerve
 

I think you're forgetting. The back two started like 71's in '02, to allow the robot to slide down the goal, IIRC.

Re: 3 wheel swerve
 

By rotate I mean "swerve." What you're describing is unrelated.

Re: 3 wheel swerve
 

I did say that I think you were forgetting. The back wheels started in a given configuration, then rotated to allow a full swerve--similar to 16's 2008 robot. I also recall there being CD-Media pictures of the robot showing the swerviness, but not clearly.

Re: 3 wheel swerve
 

I'm surprised the discussion has gotten this far without mentioning Tumbleweed, 148's Championship-winning 2008 robot (and patron saint of robots without much of an active manipulator).

Re: 3 wheel swerve
 

Here's a picture showing the three modules: http://www.chiefdelphi.com/media/photos/20540

From what I can remember, the drive had multiple modes, from full swerve to a forklift-like drive that could be changed on the fly.