Coaxial Swerve Derivation with Paired Modules

[Aren Siekmeier]

Originally Posted by AdamHeard

The potentially big issue with a 10 motor drive on the new control system is only having 16 slots on the odb. 6 motors might not be enough for the rest of the bot.

Still leaves enough for 2 motors to each of 3 additional degrees of freedom. We usually only have 2 additional motor powered degrees of freedom. And you can always go 1 motor on a degree of freedom. Besides the fact that pneumatics are most of the time a better option. So I'm not super worried.

Also, 3 wheel swerve only has 3 turning motors