Swerve Drivetrain

[RogerR]

Originally Posted by Pelicano234

...Another question, what keeps coaxil swerve drive modules from turning when you are driving them, aren't the drivetrain motors usually more powerful then the ones that turn the modules?

if you do a search on 'torque steer', you should find some posts addressing this subject. usually, the motors are geared in such a way that while the drive motors are more powerful, the steering motors are outputting more torque. also, the width and diameter of the wheel, along with its CoF come into play as well.

this is one reason (the main one, acutally) that i prefer to mount my drive motors in the modules.