diving to 4 directions

[Karthik]

Originally Posted by Lil' Lavery

You are correct that a swerve drive (at least any that have been produce in FIRST thusfar to the best of my knowledge) will not allow for translation and rotation simultaneously.

A swerve drive with four independently steered modules, or one with two independently steered modules and casters, will allow for simultaneous translation and rotation. (If you do the vector calculations for each wheel, you'll quickly see that this scenario is very possible.) It's actually detailed in two of Ian's whitepapers. Some examples of FIRST robots who could achieve this are Team 47 in 1998 and 2001, as well as Team 1114 in 2004.