Help with swerve drive.

[asid61]

Originally Posted by fr05ty27355

Actually, crab drive can work just fine with turning as long as you set it up in either a square or wide configuration. If you chain together the steering of each module, then they will all turn together. For the actual driving, you simply have two different motors, one running each side of the drive train. This way you can turn just as if you had a normal 4 wheel drive setup.

This is the same idea, but here they split the steering into two sections.

The main issue is that some maneuvers that are possible with full coaxial swerve drives are not possible with crab drives, such as rotating about the center of the robot while moving. The wheels need to move at different speeds at different angles to avoid scrubbing. If one is okay with the scrubbing or has a solution I'm not aware of, then it's fine.
If it's for a practice bot, going crab is easier but if you have the time and programming full swerve would be beneficial long-term. You can adapt a swerve to crab, I would think.