2024-25 Season Gen2

The Final Iteration of our Differential Crab Drive project. Built for the 2024-25 season, INTO THE DEEP℠ presented by RTX, this was the robot we built for State Championships. This design uses belts, spur gears, and a hybrid spur/bevel gear to use 2 motors on each drive side to turn the wheels, pods, or both. We finally got this robot to work great, except for the period where our robot drives itself (Autonomous). Our robots use odometry and custom pathfinding code to navigate around the field during the Autonomous period, and the time to develop the complicated software to integrate that into the swerve led us to scrap the design right before State Championships. (The estimated software development time was at least 2-3 months.