To answer the OP's question - there really is almost no software complexity to butterfly drives, and the mechanical complexity is much less but still significant. Swerve drives are very taxing both mechanically and software wise.
Quote:
Originally Posted by Andrew Schreiber
Source on the bolded section because Im about the turn on the Ether signal and claim that, in fact, omni directional drives (mecanum and killough platforms) are capable of more complex motion because they are true omni directional capable. This is because they can control each degree of freedom they operate in (x,y,orientation) at any point in time compared to a steered wheel system which has some lag in controlling these degrees of freedom.
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Butterfly drives are generally defined as 4 traction / 4 omni on pivots, and have no inherent ability to strafe.
Even with the addition of a sideways strafing wheel, they are significantly worse at strafing about an arbitrary center of rotation, or translating while rotating at the same time.