[Jimmy Cao]

In my past experiences with swerve/crab drives, I have only used the KoP wheels (AndyMark). The only issue we've had with those is that the spokes or hubs do not hold well to large loads, thus, they'll crack, and then things easily go bad (broken wheel, broken hub, plenty of possibilities). Even the 2nd generation AndyMark wheel (2008) broke a few times.

This year, the low CoF makes the AndyMark wheels hold up extremely well (that, and I believe the hard outside makes it more durable).

I think team 118 has had a good deal of experience with crab drive systems using small wheels with grippier tread than the KoP stuff. Maybe someone from there can offer some tips about using small wheels.