Quote:
Originally Posted by Munchskull
..I am not sure why you would want that extra torque. The way I have always veiwed the swerve driving style is to drive fast, and evade defense.
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Not always, and maybe not even mostly. A swerve or crab drive can apply all of the friction force of all of its wheels in any direction, making it great at pushing. The triangle base reduces stability in pushing matches, but not too drastically. The archetypical tri-wheel crab robot, Tumbleweed (148 Robowranglers playing 2008 FIRST Overdrive), spent most of the matches I saw (on video; before my time in FRC) getting in the way. With nine bumpers, they could push within 10 degrees of whatever direction they wanted. Also, because they could then go sideways to allow a pass, it let them push for all but a fraction of a second of the duration allowed under the obstruction rules.