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Re: how the wheels are moving in this video?
That's a coaxial swerve drive, so each wheel is powered by a sprocket through the top and is able to be turned by a sprocket on the same axis. Here's a picture of a swerve module used by 148 last year, it should help you understand how they work. The small sprocket turns the whole module, and the large one is attached to the bevel gear by a shaft.
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