[sanelss]

Actually it uses the same allotment of motors as a regular swerve so we don't lose anything there. as far as the point of doing it, it's multi faceted. with normal drive systems and the systems that are used for FRC, when you want a motor to go slowely or just a little bit, it often lacks the power to move at those lower values, so you have to give it a higher value than desired to get it to even move. with this design. you can move at 10% speed but have as much power as possible and make micro movements for very precise aiming without overshoot. if we run the reference motors at 100% all out, and the other one at 90% in the reverse direction. the total output will be 10%... at 90% of the motors power. At worst it will perform like a normal swerve when they spin the same direction, but when they spin opposite directions you get that major benefit at having lots of power at low speed so it offers a lot more versatility.