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X-Drive
On our team we call that and x-drive chaise, basically because it can go on the Y-axis and the x-axis. I heard that it is very good for speed and precision, but not so much for torque. Your chaise design depends all on the game, this year you needed a lot of torque to drag those goals, and speed wasn't really that big of an issue.
But the design is really complicated. It requires both hardware and software to be perfect. It can create a lot of complicated components, and the more complicated you can get, the less reliable your robot can be. It is a good design, saving you mostly time by not maneuvering as much.
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