Different Swerve Drives

[Cal578]

You could have one motor steer the left side, and another to steer the right side. When you turn both of them 90 degrees, you get crab drive.
|..|
|..| = Forward

/..\
\../ = Spin

/../
\..\ = Snake

-..-
-..- = Crab

Crab requires independent drive motors on the four wheels, since the rear wheels are aimed the opposite direction of the front wheels.

[CalTran]

Originally Posted by Cal578

Crab requires independent drive motors on the four wheels, since the rear wheels are aimed the opposite direction of the front wheels.

We intend on each wheel having independent drive motors. We're just a little shaky on the rotation motors and whether to chain rotation together or one motor each, or some weird combination (ie 1717's opposite corners). Whichever CD deems the best will be what we pursue.