pic: SWREV3 Drive

[Toa Circuit]

Originally Posted by Abhishek R

This is really cool. Is there a reason why you used 3 motors, would it not be possible with 2?

Swerve is impossible with 2 motors- at least if you're wanting to be able to turn as well. Use 3 motors, and you can do some limited movement, but then it gets messy, and you can't move in X,Y, and W truly independently.

I'm using four motors (A EV3 Medium motor is a bit hidden behind the brick, and I had to use a NXT motor instead of a second EV3 medium motor to rotate the second module.)- each wheel is independently driven and steered.

[Flimsor]

Originally Posted by Toa Circuit

Swerve is impossible with 2 motors- at least if you're wanting to be able to turn as well.

You could theoretically gear the swerve modules to turn together since all of them have to face the same direction to go anywhere anyways. You'd just power that with one motor, then another geared setup but to drive the wheels you want to.

[Toa Circuit]

Originally Posted by Flimsor

You could theoretically gear the swerve modules to turn together since all of them have to face the same direction to go anywhere anyways. You'd just power that with one motor, then another geared setup but to drive the wheels you want to.

Such a setup can only traverse along the X and Y axes. Any rotational motion is coincidental or caused by drift.

[Abhishek R]

Originally Posted by Toa Circuit

Such a setup can only traverse along the X and Y axes. Any rotational motion is coincidental or caused by drift.

Ah I see what you mean. Right, I was assuming only those two axes of motion, and not any rotational movement while traversing in a certain direction. So you would need at least three motors for a full swerve. I was thinking along the lines of what Flimsor said.

[Andrew Schreiber]

Originally Posted by Flimsor

You could theoretically gear the swerve modules to turn together since all of them have to face the same direction to go anywhere anyways. You'd just power that with one motor, then another geared setup but to drive the wheels you want to.

http://www.chiefdelphi.com/media/papers/2785 May be of interest to you.

I'm sure Nate is hovering around here somewhere...