Swerve Drive Rotation Control

[ehfeinberg]

Originally Posted by BHS_STopping

You pretty much need to have each wheel be powered independently if you want to get decent benefits out of using a swerve drive. Steering is somewhat less important (a small amount of slippage is fine) so you can usually tie pairs of wheels together for steering. Diagonal is best.

I don't really understand why you need to power each wheel independently if you want to get decent benefits. Could you please elaborate?

The reason we were thinking of driving two wheels together is because our team has very little access to cnc and advanced manufacturing techniques. If we were to drive all wheels independently we would have to use 4 pre-made gear boxes. By chaining wheels togeather we have half the weight and half the complexity.