Quote:
Originally Posted by Skyehawk
Each of the 4 swerve modules will be turned individually via window motor. They will turn 90 degrees (allowing for full swerve motion without using coaxial swerve).
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This can be made to work, but realize you will not achieve "full" swerve motion.
With the 90 degree limitation, there will be maneuvers you will not be able to execute acceptably, especially using a (low power) window motor for steering.
Just to give one example, suppose you try to maneuver the robot while driving sideways. Since the wheels are all at or near their maximum allowing turning angle (90 degrees), every time you need the wheels to cross that 90 degree limit you have to turn them 180 degrees the other way and reverse the drive motor.