Ok, so in a swerve drive you use motors for turning the wheels, eg 11W per wheel for actual driving then an extra 5.5W per wheel to rotate it. Would those extra 5.5W motors count towards the 44W drivetrain limit if they aren’t actually pushing? I know this will probably by answered in the manual when it comes out but just in case…
Id assume they would be because they are moving the drivetrain but the game manual comes out this afternoon and they could probably answer it and if not you can ask your mentor to post on the official q&a for the official gdc decision.
hmmm, fair point.
I would ask myself, is it contributing to the overall manipulation of the motion of the robot? if yes, then it is; if no, then it’s not.
If the rule, as outlined in the 9(7)mg video, and something I came up with during my initial analysis is based on robot subsystems1,2,3 then unfortunately a swerve drive over 55W will be not allowed, however it does possibly open a loophole (Which I hope to exploit as I REALLY want to build one) for building a PTO that boosts your drive power from 55 or 44 but only temporarily using shared motors, otherwise with the motors powering moving wheels rule like in FRC swerve drive could be viable!