Strategy Basics
Before delving into particular drive strategy, it is crucial to understand the pros and cons of swerve drive.
Info
* Far faster than other drivetrain options (we run at ~3.8 m/s)
* Tighter manuverability and control
- Smaller turn radius and strafing allows for less congestion in small spaces and faster cycle times.
* In certain wheel and motor arangements, the robot can shrug off heavy hits without moving or taking substantial damage.
* Manuverabity enhances the ability to dodge incoming, defensive robots with ease.
* Increased flexibility and options for autonomous mode.
* Intesive power consumption and battery sagging.
* Eight motors for drivetrain alone increase points of failure exponentially.
- Increased wiring complexity
* Less stable (higher center of gravity)
* Difficult to control (driving aspect)
* Expensive
- Must always keep spare parts and modules in case of damage during competition.
- Difficult to repair