[Scott Kozutsky]

Originally Posted by Dan_Karol

Maybe i'm missing something, but how does it turn?

If all pods are ganged together then you have no control over what your heading is or you have no ability to strafe.

The way I have it is they all point in the same direction. You can tank turn in any orientation by simply driving one side forward and one side back. Only the pivots are chained together not the actual drive.

The reason you can't turn in conventional crab is because the drive is all chained together and because the wheel scrub from trying to tank turn is too significant.

here's a crude vector diagram of my 3 wheeled swerve rotating.
http://imgur.com/0HMYj0g

If they were traction wheels the steering would be awful (non existent) because the wheels would oppose the lateral forces exerted on them. With omni wheels this does not happen so it should be able to turn quite nicely.