pic: 6 CIM swerve CAD from 2471

[EricH]

Originally Posted by kk052

if you want to pivot around a specific pint you need to move the wheels close to that piont at a different speed than the wheels farther, however you may be able to get away with basic movements by just direction, but the wheels would skid a lot.

If there are two of these, you could do that between the sides fairly easily.


But I can't think of many cases where a swerve would need to pivot around a specific point (that is, center of rotation) that isn't the center of the robot. Depending, of course, on the swerve, and what's on top of it. There have been some very good swerve drives that could not pivot at all. (They had other means of getting aligned with targets and all that--or not, as the case may be.)