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.