pic: MOEnarch Swerve Drive

[Gdeaver]

Looks like a happy happy joy joy moment. Some thing does not sound right when the module was rotating and driven. Those are wide wheels and may cause problems with amp draw on both drive motors and steering. Pay close attention to the tuning of the steering pid. You can have to much traction. For a fall back you might want to consider 1-1/2 or 1-1/4" Colsons. Next, get 4 of them on a frame and get programming. Then you will be half way there. Driver training is the last half. If you get it going before kick off, do you want to meet and do some swerve on swerve driving?

Note for the drive encoder, Do you really need quadrature? Wouldn't a tachometer solution be good enough? I do not now what the under side of the coaxial pulley looks like but, could you put some reflective tape strips on it and use a optical reflective sensor? We used a magnet solution last year and will use optical this year.