Swerve Drive Rotation Control

[Katie_UPS]

Originally Posted by Al Skierkiewicz

EH,
To respond to your original question, the simplest solution is to tie all four modules together for steering.

Although simple, you will lose the ability to change your robots orientation in relation to the field, which may pose a problem depending on the game and how the rest of your robot is built.

I'm not going to tell you what is best for your team, but think about the different pros and cons of connecting the halves of the robot and how that effects your steering/turning/driving etc. Also, as said before, consider how your chain paths effects your robots design/ability to play the game. What you prototype now might be modified for your competition robot because its not optimal for the game.

Quasi-related: Good for you and your team! Building a swerve is a cool thing. They are a big learning experience for all involved regardless to implementation on a competition robot.