It is a dark day for Diffy swerve. I feel really bad for all the teams who have worked so hard to develop diffy. Is this the end?, or is there some other way for it to become useful?
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Having designed a few myself, I’m not too broken up about it. Differential swerves are inherently more expensive than regular swerve (more gears), and those few (admirable) teams who’ve managed to field one haven’t seen any performance advantages. So, like, what’s the point?
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Maybe u can use some of the gear in normal swerve.
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Multi-joint arms can leverage differentials. Making general purpose intake mechanisms is a fun design exercise.
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Depending on what metrics you are using for performance, we see a noticeable performance increase in efficiency while driving. Compared to what I’ve seen other coaxial swerves draw, our swerve draws significantly less (iirc) as seen from this post
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I think overall, losing differential swerve is a big plus to teams (including those who tried implementing it already). The amount of times I’ve seen a smart student waste time and resources into trying to design and implement differential swerve because it’s “objectively better” is too many and it always hurts the team.
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I don’t really agree with this stance since the technlology for diffy swerve is rather simple the only real limiter has been control speed to get it smooth struggling on the Rio since you need a much faster loop time but there are several viable solutions to this problem now that aren’t too hard for teams to reach even while still coding in java or python instead of c++
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Until someone releases a COTS diffy swerve, it is much harder to design and build than a regular swerve. Look how many teams used swerve before high quality COTS swerve was available and cut that in half.
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Heres COTS differential swerve Differential Swerve Drive – ARMABOT
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Very old design, but a diff swerve none the less.
At the end of the day it’s really just a packaging difference.
As far as I know armabot never really managed to muster the scale of COTS like Andymark, WCP, etc for any product. So this being a boutique item and not mass market COTS is still a valid argument for “until someone” meaning a supplier with major market share.
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