[Tyler2517]

One more thing to think about is the pure amount of power a swerve drive uses in the first place. We have had a lot of problems with that alone. Adding in more cims may make that worse. I would honestly focus more on how to make it more efficient.

If you are running a 3 wheeled 6 cim triangles are in my opinion a great drive base. With a corner you could penetrate a defense pretty fast. 1425 had a great kiwi drive, i can not imagine them if they would have had a swerve drive. plus 3 corners makes the rolling maneuver swerves are famous for easier.

For the gearing for the steering. we have found that a 132/1 for final reduction is pretty good. We messed around with faster/slower and found that any faster we might have problems with turning the wheels in a pushing match where we receive a lot of thrust.

On a side note make sure the module is mounted well if it becomes cantilever it makes it almost impossible to turn when the robot is not moving.

For weight saving you can look in to what we did where we put the steering motor in the belt from the drive belt. We managed to make the module super strong and insanely light doing this.