Coaxial Swerve drive - Steering and moving at the same time

[Ether]

Originally Posted by bs7280

if the robot trys to power the wheel while turning the wheel the wrong direction, the gears may lock up

The gears don't lock up, but there is an interaction between the drive and steering motors.

If the drive shaft (the vertical shaft shown in your picture) is held fixed and you steer the wheel, the wheel will also rotate about its axis.

If you apply a fixed torque to the drive shaft, then the wheel will speed up or slow down a little as you are steering it.

[bs7280]

Thank you everyone, this answered my question