2468 has never used swerve before this year. It was one of our banned words not to be uttered in the shop, simply because it was not a solution we had any off-season experience with.
However, this year, due to the availability of a COTS solution and student demand, we opted to permit the use of the
AM swerve modules. If I recall correctly, the current iteration of a corner is: am-3009 (CIM replaced with a mini CIM) + 3D-printed position-sensing gear + MA3-A10-250-N encoder + Talon SRX with analog breakout board for steering + Victor SP for drive. We program in LabVIEW.
Feel free to swing by our pit and ask our students of their experiences with these modules (driving them, integrating them, and programming them).
Kudos and our thanks to the Bomb Squad for helping us with the swerve control software.
We are toying with the idea of doing an off season project to design, manufacture, and test our own swerve module.