Questions about crab/swerve drive.

[Vikesrock]

Steve, I don't know if what Adam saw was similar, but I saw at least two crabs this year that would not sustain the axial loads put on them by rapid change in wheel direction or by being pushed across the carpet perpendicular to wheel direction.

I am far from a mechanical expert (electrical and software are more my thing), but I am near positive that the two crabs I saw would fail in an FRC game on carpet. One team was definitely aware of this and the module was designed this way because of the game. I didn't get a chance to talk to the other team at all to see if they knew what issues they could face if we move back to carpet next year.