pic: 6 CIM swerve CAD from 2471

[cadandcookies]

Originally Posted by kk052

hmm how will this cope if one wheel needs to spin faster than another?

Do forgive me if this is a basic question, as I haven't dealt with a swerve drive since 2011 and my memory of that is a bit hazy, especially in terms of controls, but in what situation would this be necessary with a swerve? Doesn't the ability to turn the modules negate the need for moving one wheel (or set of wheels) faster than the other, as is necessary with a traditional skid-steer?