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Re: Mecanum or Swerve?
Another drive system you could research is a kicker drive system, also known as a slide drive system. It's basically a 4WD setup with omni wheels, with a fifth powered omni wheel mounted in the center of the chassis, that allows the robot to strafe.
We've never built one for FRC, but many for VRC. I'd love to prototype one that would be FRC-ready though.
-Nick
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Alumnus of 1503 Spartonics
Founding Mentor of 5406 Celt-X
Mechanical Design Mentor of 3940 CyberTooth
Emceeing events since 2013 - come say hi!
Success doesn't always equate to match wins. It's about the wins off the field.
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We need to find the female engineering mentors in FIRST and start having them present/co-present technical conferences at the championships. We need to start showing the girls on the teams that there are female engineering "rock stars" to look up to. - Kims Robot [more] 
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