Quote:
Originally Posted by Chris is me
Crab drive is marginally less mobile, heavier, and more difficult to program and implement while simultaneously not being nearly as cool as 190's wheels.
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Most crab/swerve systems also do not have full holonomic capabilities, and those that do require more motors and thus is a negligible weight difference. We run the in full field-oriented mode, which is much easier to implement with mecanum than with a swerve drive.
While the system does seem complex at first glance, it's really nothing more than a friction clutch system which is functionally identical to the dog clutches in most shifting transmissions used on many robots.