pic: Rosie Robotics first time doing Swerve

[Lil' Lavery]

Originally Posted by Enigma's puzzle

Gearing them down does give you an advantage, because you will never reach a top speed of a high speed gearbox why do you need it? a slower one makes for higher torque at lower speeds, usually it is a trade off torque for speed, but if you can never get enough acceleration to go full speed trading off for speed is useless. You may not need the torque either but if it ever came down to it the torque would be needed before the speed.

I understand what you're trying to say, but you need to think about that statement a little more.
The reason you're unable to accelerate is because you're unable to transmit torque (rotational force) effectively to the driving surface. Friction (specifically static friction) is the limiting factor in how much torque you can transmit. Having torque beyond that isn't going to help you much.

Applying more torque than your traction is going to cause slippage.