Swerve Drive Rotation Control

[MichaelBick]

Originally Posted by James Tonthat

I see a lot of people mention this as a factor for going swerve over say mecanums or an omni drive but some of the real reasons with going WCD is finishing early, having a more simple drivebase to program/drive on, and overall having a more reliable system. Don't fall into the swerve trap to get "more traction"

Most of the time, pushing matches can be avoided with just better driving, which boils down to finishing earlier and giving more stick time to the drivers.

This is exactly right. Also if anybody is thinking of going independent swerve there is a chance that some of your wheels leave the ground in pushing matches causing you to lose 25% - 50% of your power.

1+2 and 3+4 vs 1+3 and 2+4 will get you the exact same thing. Consider the game though. If you have to bring a game piece up the middle of your robot then 1+2 and 3+4 is probably the wrong choice. However I highly recommend 1+4 and 2+3: 1717 used if for 2 years on their swerve and it allows you to turn very efficiently.