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Re: Swerve Drive vs Mecanum Wheel drive?
The lag time on getting a swerve drive to start strafing is insignificant. It's 1/2 of a second to 1/8 of a second.(shortest path algorithms help a lot) The drive motors are already ramping up at this point. By the time any other omni directional drive gets to speed the swerve will be their the extra acceleration that a swerve has strafing over mechanum is amazing.
On another note if you have a swerve drive, who spends their time pushing a west coast drive around. Most good teams with swerve know that the whole goal of a pushing match is to waste time. You can role out of pushing matches really easily. We have some really cool code that changes our center of rotation making doing this really easy. If done right you can use the other robots pushing power to help you accelerate past their top speed. (if you have a higher top speed)
If a swerve is playing defense just turn your wheels perpendicular to their thrust, Pushing a robot sideways is much much harder then trying to push one head on. With a swerve their is no "foward" making pushing agenst it is hard if the drivers know how the thing works well. If you do try pushing a swerve side ways the lifting motion on the wheels you are next to will cause the outhes to dig in to the carpet making the while thing much more difficult.
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