My friend and I are working on a 3-wheel swerve drivebase, inspired by 3-wheel platforms from
1425/
1640/
16 pre-2011. The drivebase isn't intended for competitive use.
This is our first time developing a swerve drivetrain. Is it significantly more difficult to implement 2CIMs/swerve module (6CIMs total) vs. 1CIM/swerve module (3CIMs total)?