Free spinning wheels

Hi everyone! :open_hands: I am new to using VEX robotics, and was curious when is it beneficial to use the shaft inserts to allow a wheel to spin freely, versus just allowing it to rotate with the shaft? Thanks!

Some more complex mechanisms may use it, such as planetary gears.

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By using green inserts, teams can create screw joints. These have lower friction and less slop than regular wheel mounting.

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