2 Wheel Swerve (2 swerve, 2 omni)

[ENIAC]

Originally Posted by Flak-Bait

Are the two omni wheels powered?

Yes, they are.

Originally Posted by Alan Anderson

It seems like a reasonable approach, but the diamond configuration seems unnecessarily tippy. I think a traditional corners-of-the-rectangle wheel placement should work as well. It shouldn't even matter which two corners the two steerable wheels occupy.

I was thinking that as well. I saw the example in Post #6 with the omnis and the swerve modules on separate sides.

Would there be an optimal driving orientation, assuming the omnis are at opposite corners? i.e, would it drive straight better when the sides are orthogonal or parallel to the direction of movement, or when they are at 45 degree angles?

Sorry if I am being unclear.