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Re: The Perfect swerve
973's Emperor Swerve is the closest to a "Unicorn"-class swerve out there.
The "Unicorn" class, as I recall, is 2-speed, unlimited turning, non-coaxial (AKA, the motor is in the module), and each side (or is it each wheel) can be rotated independently of the other (minimum of 2 steering motors). It's not easy to do, but the benefits can be worth it.
OTOH, then there's 118's V6 designs...
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons
"Rockets are tricky..."--Elon Musk
 
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