[Chadfrom308]

Team 308 chose mecanums over swerve this year because it was easy to install, probably lighter, and less points of failure.

We chose mecanums because we wanted to avoid defense. And, at least I think so, we have done this correctly. It takes 2 and sometimes 3 robots to keep us from moving. We have incredible power on our drive train and incredible programming though.

On each wheel, we have a toughbiox mini with 1 big CIM and 1 min CIM. (Yes technically we have an 8 CIM drive)

This allows us to accelerate crazy fast, which helps with all the defense,

Programming wise, we have 5 PID loops on our drivetrain. I'm not a programmer, but how I think we set up the PIDs is the based on rpm from each wheel, us telling the PID how fast it should be going. We have 1 PID on each wheel, and one for rotation. It's cool because you can push our robot and it will push back with independent power on each wheel. And speaking of pushing, that's how we play defense (sometimes). We sit in front of a robot and step away from the controls and it does the work (mostly) by itself.

We spin around each robot when trying to be defended, and when defending, we push corners and even head on. We can normally stop robots from moving at that point.

We don't get pushed around easy, although it may look like it. We have adapted to rolling with defense and spinning off whenever we have the chance.

We have shut down power house teams from scoring with mecanums.