Quote:
Originally Posted by Ether
If you want a 3DoF swerve, you have to drive and steer each wheel independently.
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You're correct, I had to think about it a while to realize that issue. You could potentially do it with half of the wheels as omnis (alternating every other), though that's not the most practical.
I'm still of the opinion though that using omnis on a swerve drive defeats the purpose of a swerve drive (Why not just build a kiwi drive if you're going to use all omnis?).