Swerve: Belts or Chain?

[Andrew Schreiber]

Originally Posted by Answer42

Depending on the game crab drive can actually be an adequate swerve design. For example 118 used crab drive with a fully independent upper turret for their manipulator in both 2007 and 2008. they had no control of their chassis orientation but it didn't matter because they could turn their manipulator to face whatever way they wanted. Having one giant drive gearbox is a pretty neat advantage. I'm sure a revisit of their "v-6" gearbox with modern motor counts would be beastly. 148 also used crab drive in 2008. Since they had no manipulator (besides a pole to knock the ball down) they didn't need to worry about orientation. Just some thoughts.

Fun fact, revisiting with current motor allotments would require a bit of caution. Recall that our battery supplies a finite amount of power at any given point in time. I know 125 has both blown our main breaker and browned out our CRIO this season with our 6 motor drive. We've seen current draws dropping as low as 4v out of the battery (before the CRIO shut down since the 24v regulator stops functioning properly at 6).