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.

[Brandon Holley]

Originally Posted by 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.

I think this is being considered as a side project...not necessarily for competition

[kibbs425]

If your really looking at doing this you may want to see about putting all of your gears in an enclosed gearbox with an output shaft that chain drives the wheel pulleys. This will help keep the gears clean and running better, i.e. not wearing down teeth because of grit contaminant. Also look at getting sealed bearings, with REALLY good seals. Girt contaminants can easily destroy any rotating part.