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Re: swerve math quiz
I believe 'coaxial' simply refers to how the drive motor transmits its rotation to the wheel. On a coaxial module the wheel is driven by a shaft that is coaxial with the rotation axis of the module. This allows you to mount your drive motor away from the module and have unlimited rotation.
Based on this definition you could create either a unicorn drive or a crab drive with coaxial modules.
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