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Re: WCD vs. Swerve
It takes a lot of time, resources, and expertise to make a good swerve drive. There are also more opportunities for things to go wrong with a swerve, so it can be less reliable. I would not recommend using a swerve drive unless you can see a huge advantage in the game by having it that would offset all of these disadvantages. (My team is in the same boat, we prototyped a swerve and a 6wd).
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