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Re: Swerve drive 4, 2+2?
You also have to factor in how your wheels are powered. Some teams (ie 118) power all four wheels together (chains are run from a single transmission to all four wheels). Some teams (ie 111, at least in 2007, haven't seen their 08 bot in person) power each wheel individually. Some teams (ie 1625) power the wheels in sets of 2.
There are many different ways to create a swerve system, and each has different methods to rotate. Some depend on changing the powers of wheels to rotate (like a tank drive), others depend on re-orienting the wheels (similar to Akerman steering). Others cannot (such as 118) rotate at all, and use a turreted manipulator to compensate.
If you run vector calculations you can figure out what forces you need to make your robot rotate, and you can create a system to produce those forces.
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