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Re: Has anyone made a swerve drive that's run on one motor?
Many times. This style is often referred to as a crab drive.
It is primarily used to make programming and driving more straightforward. However, it also takes away a lot of the versatility of a swerve drive, removing the ability to perform maneuvers which require wheels facing different directions. Additionally, the motor power required to steer four modules is not trivial, and a rather torquey motor is necessary.
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FIRST is not about doing what you can with what you know. It is about doing what you thought impossible, with what you were inspired to become.
2007-2010: Student, FRC 1687, Highlander Robotics
2012-2014: Technical Mentor, FRC 1687, Highlander Robotics
2015-2016: Lead Mentor, FRC 5400, Team WARP
2016-???: Volunteer and freelance mentor-for-hire
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The closest thing to "Senior Mentor" we have is "Team Grandma". :) - Alan Anderson [more] 
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