Swerve Drive Rotation Control

[BHS_STopping]

Originally Posted by ehfeinberg

What we really want to get out of a swerve drive is the ability to have omni-directional movement. Our team used mecanum wheels for many years before switching over to a wcd this past year. Although we really like the traction and pushing power we gained, we still would like the ability to have omni-directional movement. With the swerve drive having both aspects it seemed like a next step for our team.

I guess what I was trying to ask was why would you drive each wheel individually if you steer two together?

If all you're looking to do is have a robot which can drive back and forth and strafe left/right, then you don't need individual power on each wheel. I just suggested that if you wanted to do more complex things like move and turn at the same time.

[androb4]

Steer 1+2 together, and 3+4 together.

It just makes more sense that way (to me), because if 1+3 and 2+4 are steered, and you steer them outwards and drive them forward, .....well, it won't do much good.

Here is a good example: http://team221.com/upload/818-layout.jpg

You may also want to study images of 118's drive systems..