[dcarr]

It's a really good point that complexity in one area can allow for simplicity in another.

Take 1717's swerve for example - incredibly complex, but made maneuvering, and therefore ball pickup, extremely simple to execute.

It's one of the reasons why we're investing time and energy in swerve - after a few iterations, a complex drive base can be made reliable enough that its complexity isn't a crutch, and allow for a lot more flexibility in designing other mechanisms.