[EricH]

Originally Posted by connor.worley

I'm not sure, but I think in a full swerve, all modules can rotate individually (you get the magic "rotate and and translate at the same time" motion). In a crab, modules are linked rotationally (less motors?).

Nope, that's not the difference. 118's coaxial swerve drives have had every module linked rotationally in the past.

I think it has more to do with the way the rotation happens and the various linkage schemes. There are quite a few of those, including all, front/back, and left/right.