What Drivetrain?

[Clem1640]

But I am a Swerve-Drive guy at heart. Yes, it is expensive (time, machining, weight, $s,...) and it is exceedingly difficult to execute well (and very easy to execute poorly). But well-executed Swerve-Drive is hard to beat as an FRC drive-train (this judgment is, of course, game dependent).

Swerve combines true 2-d drive capabilities with excellent traction. Since direction of travel is independent of chassis orientation, it does not telegraph intent like tank does. Its ability to vector drive force in any desired direction makes it formidable in defense as well as offence.

But this comes with a high price tag, which includes extensive and continuous driver training. This never stops for us.