pic: All Terrain Swerve 1

[zander_108]

I still can't understand how it matters how much torque it will take to turn those modules, as of the current rules, there are not 4 FP allowed.

Originally Posted by David Guzman

All of the four swerve modules are all independently driven, which means you can have all your wheels turn in different amounts to almost perfectly turn using Ackerman steering. Since every wheel can turn independently, each wheel can turn the exact amount needed to eliminate any and all side scrub. Here's a quick illustration:

this is in fact very true that it will not take much force to turn the modules, you might as well just use 2 BB motors and 2 globe motors.