[ratdude747]

exactly. what i was trying to saw was that wide drive tends to work better on all drives other than crap, since crab can be either depending on what directions the wheels are rotated at any given time. crab tends to throw a good amount of general rules out the window when it come to drivetrains.

crab is one of those things that is awesome if done right but disaster if done wrong... there was a team that shall remain anonymous that tried crab in 2006 and were forced to run it tank-style due to the programmers not having the members and time to program crab. the robot worked, but it could have been better had they opted not to try crab that year.

bottom line: crab takes a lot of effort to do right... if you are not sure if you can do it, it might be best not to.