Quote:
Originally Posted by Chris is me
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.
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.
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Ah true, I was reading it as "optimally built swerve compared to optimally built omni drive"