Swerve vs. Butterfly Drivetrain

[Andrew Schreiber]

Originally Posted by fargus111111111

Swerve:[*]Harder to program, but more complex motion is achievable

Source on the bolded section because Im about the turn on the Ether signal and claim that, in fact, omni directional drives (mecanum and killough platforms) are capable of more complex motion because they are true omni directional capable. This is because they can control each degree of freedom they operate in (x,y,orientation) at any point in time compared to a steered wheel system which has some lag in controlling these degrees of freedom.