[Cuog]

My first question to you is what machining capabilities do you and your team have? You'll need someone experienced in machining to thousandths of an inch accuracy. And preferably someone who has experience working with gears. I can tell you it will take an incredible amount of talent to make a working swerve module with a drill press and a hacksaw.

Second PID loops are great and all, but there's a lot more to it than that. To make an intuitive setup you'll need to figure out exactly what way you want to map user input to outputs. There are about 10 ways to do it that will work, but a lot fewer that are considered good. Again you'll need to scale these inputs usefully.

My first time programming a omni directional drive it was very easy. It took only 3 lines of code(4 omni wheels at 90 degrees from one another). And yeah it worked first go kudos to me. Then one of the drivers said what happens when we turn, tapped the joystick full left for a second and the robot spun in place at 14 feet per second with its arm sticking out 4 feet almost hitting several people. Ok that's easy to fix, just tone down the spin modifier. That worked to keep it from being a death trap, but then thanks to slowing its turn, getting a smooth strafe/twist couldn't happen over a certain speed because the twist modifier couldn't twist enough.

In the end my pretty little 3 lines of code which worked turned into a pretty large function to control the omni bot properly. And I didn't even use PID, not to mention there's a little bit more to keep track of in a swerve drive.

I'm sure you're thinking pfft that's nothing, I got this. You probably will get it eventually, but keep in mind the sheer number of stumbling points waiting for you, and if you attack it with the same arrogance I read in your posts, you'll lose a lot of the people whose help you will need to complete the project.