Free rotating coaxial drive question

[ekapalka]

I'm trying to make something similar to a coaxial swerve module, however the module needs to spin freely (as in there's no positional control). If I remember correctly, when the wheel of a coaxial swerve drive is slowed down or stopped, the motor driving the wheel tries to turn the whole module by the interaction of the bevel gears. Can anyone think of a way to allow the module to spin freely without putting the motor in the rotating module and using slip rings? Thanks!