Steering a Swerve

[matthewdenny]

So as we continue our development of a swerve module we have just a few (hopefully) sticking points. The biggest is how much torque is normally required to turn a module and hold it in place while driving.

We are thinking about a pg71 http://www.andymark.com/product-p/am-0914.htm gear box with a 1:1 to turn the module itself. Is this in the ball park? What kind of setup do you all use to turn and hold your modules in position?

Is there a calculation that is used...we are a bit stuck.