Quote:
Originally Posted by asid61
Put when you push, you can choose to push in exactly the direction you want, which may lend a greater advantage.
Plus, why push when you can a) lock wheels in an x and not move at all or b) Leroy Jenkins out of there.
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Let's do some quick math to check when an how being the swerve is advantageous.
Assuming F is the force one motor exerts and two of the swerve robot's wheels are off the ground
4Fcos(theta) = 2F
cos(theta) = 1/2
Theta = 60*
So the "break even"point is 60*. The model is inaccurate because the 4 motor robot is actually traction limited, but the point stands. Independent swerve isn't very good at pushing matches, and its best bet is to avoid pushing altogether.