[IceStorm]

I've seen designs for both 3 and 4 wheel drive crab systems. Can any teams out there give advantages/disadvantages to one over the other.

Obviously one of the major advantages to the 3 wheel design is that it would be lighter. But I think it would have the disadvantage of possibly being more tipsy.

We are a 2nd year team and are looking to design a prototype crab/swerve frame during the off season so that we have an idea how to build one if they game calls for one being the better idea in the future. Up until now we have only had tank steered fixed wheel designs with a single gearbox design on per back wheel.

This year we did incorporate some custom analog hall effect sensors so we have had experience with the code stand point of making an encoder work and feel up to all aspects of the design.

Thanks for such a great thread and all the attached posts.

Don't suppose any team would have some basic example labview or C code from the programming stand point that they would be willing to share?