Quote:
Originally Posted by matthewdenny
We are thinking about the possibility of a drive motor being only occasionally used, and freely spun by the gear box when not used for acceleration/pushing.
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As long as you don't set it to brake mode this should not be a problem but acceleration and pushing make up almost all motion in an FRC match because by definition to change direction you must accelerate.
Quote:
Originally Posted by matthewdenny
We also have a swerve design where to rotate the wheel 90 degrees it would have to back drive a cim a rotation or two.
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In most (if not all) swerve drives that use bevel gears when the pod rotates instead of backdriving the cim the wheel turns slightly.