pic: Team 691 Swerve Drive.... Again

[Garret]

Is that a banebot motor steering each wheel?

Yeah, we designed this during the build season, and we were planning on using our densos and FP for the manipulator, so we used banebots for steering.

Kind of confused why you're steering all 4 wheels but then powering pairs of them. What decisions did you make that led to this layout? I'm certainly no expert.

Originally we planned to steer the wheels diagonally (as in the opposite corners steer together) but it was much easier to just steer them independently from a mechanical perspective (primarily because the chain was a lot shorter). The reason we have not switched to an independent drive motor/gearbox for each module is that the frame that we are using was designed for only the two gearboxes rather than 4. In a later iteration we will use 4 gearboxes very likely.