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Re: Swerve/Crab
Mecanum and swerve are two entirely different animals. Mecanum drives are vector based, and result in less efficiency (and therefor less power from your motors). But mecanums can change direction almost instantly.
Swerves get roughly the same power output from their motors as a differential (Scrub) steered robot would, with the exception that their "steering" motor(s) give no output power to the drivetrain. Swerves take more motors than any other drivetrains and are often the heaviest wheeled drivetrain. They cannot change direction instantly, as it takes time for their motors to re-position.
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