Swerve designs

[asid61]

Originally Posted by MStump

Another thing to keep in mind is with swerve comes a lot of extra parts: eight motors, eight motor controllers, four sets of gears, and another stage for rotating the gearboxes.

You will also almost certainly need at least four encoders (maybe even eight depending on how you do it!). Encoders can often be difficult to work with so if you decide to use a swerve drive during the season, it would probably be a good idea to be confident with the use of these sensors.

How would you use only 4 encoders? You could probably live with 5 on a 4-wheel crab, or 4 encoders on a 3-wheel crab, but I thought you needed at least 6 for a 3-wheel swerve?