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Re: Tribot swerve drivetrain
You want to make sure that the COM is both low and near the middle, this is true for all swerve drives, but especially true for a tri-module design. This would help prevent tipping when hardstoping or quickly changing direction.
In tumbleweed's (148 2008 robot) reveal, you can see that it easily totters while turning, however, this is mainly because of the small footprint.
https://www.youtube.com/watch?v=6fLf71xlVhE
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