Quote:
Originally Posted by Akash Rastogi
Might be a dumb question, but are you using 2 wheels per module? By the looks of the housing, the width seems to be quite large.  |
It's actually another method of crab to do that. You can run the drive shaft straight down to the miter gears, which removes the need for either chain or spur gears to drive the wheels. It makes for a less complex swerve module, but at the expense of a hefty amount of (horizontal) space.
I'm guessing that's what they've got going here.