pic: Small CIM in wheel swerve

[Dunngeon]

Originally Posted by Andrew Schreiber

Ah so it is just the "moar powah" claim.

I thought there might be more to it. I'm ok trading some pushing power for simpler modules. (As a programmer I find designing with bevel gears to be far more difficult than slip rings) If you're pushing with a swerve you're probably doing something wrong.

Yeah, at its core it's about the power, but not exclusively for pushing. With a swerve, I'd rather avoid contact as you said. That seems to require that a robot be nimble, of which quickness/low-end acceleration seems to play a large part (2014, 2013). Maybe I'm overestimating the importance because I've never fielded a swerve before. Also, my opnions are based upon swerve in games like 2013,2014, where there was a need for quick direction changes and occasional pushing to get to a ball/traverse the field. For games like 2012 and 2015, sacrificing 10A wouldn't matter.

Out of curiousity, what else are you thinking when you said there's "more to it"?

Originally Posted by asid61

The thing about 4 wheels on the ground makes perfect sense, but unless you're planning on having a pushing match halfway on a table it's largely irrelevant. Just use sailcloth for bumber material and slide away perpendicular to the opponent's robot; presumably that doesn't take all 4 motors to do, and once you're on the ground you have plenty of power to flee.

I used an extreme case to make the point about the power loss, it rarely occurs to that extent. Generally it's just a loss of a few pounds of normal force on a few wheels.