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Re: Drivetrain where motors are on the same axis as the chassis sides??
In 2003 team 95 used worm gears with the CIM motors and some 45deg helical gears with Bosch drill motors in our swerve drive. The helical gears were pretty okay, the worm gears were awfully inefficient.
To do it again I would use bevel gears, though we've never had a space issue with a conventional tank style drive.
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Theory is a nice place, I'd like to go there one day, I hear everything works there.
Maturity is knowing you were an idiot, common sense is trying to not be an idiot, wisdom is knowing that you will still be an idiot.
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