I get what you’re saying, but not trying new things that are 1-2 weeks of development time away from being very usable is excessively conservative, IMO. I do agree that generally you should play it safe and not make large leaps during season (just starting to figure out controls during season would be, IMO, on the aggressive side here), but if you mostly have stuff working and just need a little bit of work, it’s not unreasonable to expect that you should be able to figure it out by the time robot mechanisms are built or whenever you expect to start practicing.
Our team hasn’t done swerve, but the biggest thing that stands out to me that people seem to forget is figuring out effective controls that will work in a match. For example: are you going to be able to pivot around each individual wheel to avoid defense? Are you, like some teams did this year, going to have field oriented controls during some parts of the match, and robot-centric other times? Are you going to have the robot be able to auto-align to fixed angles (for example, turn to face forward or some game element)?
If you’re going to potentially try some of these things, you need to figure out how to implement the features, but equally importantly, how to map these many different controls to something usable by your driver. Our team will likely be trying swerve during the next offseason, and I think we will (game permitting) try it in an offseason event before we actually put it on a real competition field, just so that we can get an idea of how it performs in a real match with defense and obstacles, etc. This isn’t strictly necessary, but you should have some idea of how it will perform in an actual competition before you put it out on the field.