Disadvantages of swerve/crab

[LeelandS]

Competitively, Swerve is, perhaps, the best ALL AROUND drive train in FIRST. All around meaning it follows the old saying "Jack of all trades, master of none."

Swerve is so much desired because it offers the omni-directional movement of Mechanums, without relying on wheel slip and thus, is not as easily pushed. 4 Wheel Swerve will offer, more or less. similar power as a 4 wheel drive. Which is not particularly excessive, but well enough.

In addition, Swerve won't outrun a lot of drive systems. It's going to rely on that omni-directional movement to cut out the time used in turning to make up for the lack of excessive speed. Unless you're 973 using Emperor Swerve, you're not going to be moving at very fast speeds. That's going to be the result

Average speed + average power + omni-directional movement = one very effective drive system. But it will not handle drive systems that excel in power or speed very well. That is, of course, based on an average Swerve. Some teams who have become very well versed in Swerve drive can overcome these shortfalls and create a drive system with great power and speed. But your average Swerve will boast a decent level of speed and power, not a wealth of either.

Edit: And, yes, as many are mentioning, Swerve is very prone to failure. And recovering from a failure in a Swerve module is no easy task.

Edit-Edit: I apologize for my bad terming. I'm being quite unclear about a lot of things. Apologies, again.

Disclaimer: I'm no expert. Don't take my word as law.