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Re: Swerve drive 4, 2+2?
In response to your first question, if you drive the front and back seperately you could turn on a point like a wide 4 whel drive would. If you turn the front and back wheels seperately, you can simulate car-type steering. An added bonus sf a 2 + 2 is that one pair of wheels can be turned perpendicular to the other, so you can park.
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