pic: 3928 Swerve Module

[Aren_Hill]

Originally Posted by Alex698

Unless I'm mistaken, (which happens a lot in FIRST --we learn this way right?) could you use a friction drive to the wheel and ditch the second reduction? I only thought of it because of the minibot gearing-up, gearing-down and final ratio power loss. Or would a friction drive could prove too unreliable in pushing matches?

Friction drive worked on minibots because it was such a low torque application, you would need to provide substantial normal force and need a much harder tread material in order to transfer the CIM torque to the wheel through friction, essentially making everything really inefficient.