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Re: Driving on Regolith
WCD basically replaced the wheels with the allowed ones. I believe 254/968 took out their second speed too. Swerve did work on regolith. In fact, it was a great year to use swerve, because you didn't need to put as beefy motors to change the angle of the modules.
A lot of teams ran 2 CIMs instead of the regular 4. Instead, many teams added fans to the back of their robot, and traction control using an encoder and follower wheel.
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