Swerve Drive with Servos

[Redo91]

I have never seen a swerve drive that has the wheel axis in a different plane than the axis the module rotates about(I think that is an appropriate description). This keeps swerves from having that effect of turning when hit from the side by another robot because no moment is generated around the axis of rotation for the module.

As wilful said, for FRC, legal servos aren't quite powerful for an effective swerve drive.

And now for the usual "DON'T DO IT" comment. Whle swerve is a super cool drive system, if this is your first time doing it, and you are thinking of doing it for this season, DON'T DO IT. From the way it sounds, your team is still deciding on what drivetrain to do. Hopefully you are not still trying to do that this late in the season.

[Electronica1]

It has been done before. However that was on a low friction field. So you might need something stronger to turn it.

[bharrison6]

We already have a drive setup for our competition robot. We are just considering what we need to make this happen next year. We already have a wooden chassis setup for the swerve though and we were going to experiment and see if we can make it work when we get time.

[Wren Hensgen]

As part of a team that created a FTC-legal swerve, I would heavily advise against it. The limits on servos reduce the power you have available, and even in FTC, we didn't have enough power to turn our modules.