[Gdeaver]

Allot of post on this subject. My take on it is that going forward any team that is considering a omnidirectional drive system should evaluate the performance of that system compared to the six cim tank drive. The new standard. The power of 2 additional cims changes the game. Low resource teams can purchase Cots 3 cim gear boxes and have a very good powerful drive train easy now. This year with swerve we found that when we went up against the best we were too slow and at the same time did not have enough traction. We as a team realize that our current 4 cim swerve is not enough going forward. We as a team are working on taking swerve to the next level by adding more power and easier driver control. We've built a tribot and have been testing it. We have a 6 cim swerve module designed but not built for it . There are allot of positives on the drive ability of it but also negatives for the shape. For a 4 swerve module we have built a quasi cvt 1 cim module and are designing a 4 cim 4 mini cim drive. At the same time we're working on methods to make an omni directional robot easier to drive. Yes, there is a drive train arms race. Keep up or get nuked next year. Mecanums may have been relevant in the past . There utility in the future is very questionable. In my opinion.