[EricH]

Originally Posted by Lil' Lavery

The most often cited benefit of hexagonal and octagonal frames is avoiding friction pins/t-bones. Considering that a well programmed/driven swerve drive should already be able to accomplish this, I'm curious as to your reasoning for pursuing such a drivetrain.

You might as well ask JVN what the reasoning was for using a nonagonal frame and swerve drive back in '08. I want to say I remember someone on that team saying it was to make it easier to go through traffic, but can't remember who, or if that was actually what they said.

I would consider it as "ease of getting through traffic" myself--you can use the robot as a wedge to split apart defenders (or move defenders away from the wall) if need be .