pic: 4 Swerve 9 CAD (FRC 449 Swerve Drive)

[Gdeaver]

Our Swerve modules have been at 9.8 Ft. per sec max and are plenty fast. We have discussed a lower top end but are satisfied with this reduction. You have designed a very complicated and limited swerve. Repairs during a competition could be a nightmare. We designed our first swerve with each wheel unit integrated into the frame. Working on it in the pits was time consuming and caused us to miss a match. For 2011 we went to totally self contained wheel modules. If something goes wrong we don't fix it. We replace it. 4 bolts, 3 pairs of wires and it's out and replaced in a short period of time. In 2010 we used the window motors (4) for steering. Teams that have used a window motor to run 2 wheels have had problems. After doing swerve for 3 years I can see allot of problems with this design. The are several teams that are successful with swerve. I would review their designs and reconsider you current path.