Swerve Drive with Servos

[wilful]

The reason most teams do not use servos in swerve drive is because of the lack of power.

Consider a robot using such a system driving in a straight line, and then being hit by a defending robot. The lack of power in the servos causes them to be back reducing the amount of power the defending robot actually needs to push the swerve robot, as the swerve modules now act as powered caster wheels.

While one could drive and steer with them, if someone pushes this robot, it is now stuck driving either directly into, or directly away from the defender.

This, coupled with a slow module turning speed leads to a poorly implemented drive system.

That being said, if anyone has run a servo steer swerve drive successfully, please correct me.