pic: Coaxial Swerve Drive Module with 2-speed Ball Drive and Nitrile Tread

[asid61]

Crazy! This is definitely the most advanced/ best swerve I have ever seen. Dual speed at a weight of 7bs per module rivals that of WCD; it's like having torquey holonomic motion at the cost of 4-5 lbs.

I have a couple of application questions:
1. Why did you not flip the cim? It look like you have the room to do so. Flipping it and adding a belt drive to the first stage of the gearbox would add half a pound or so, but would alloy you to add another cim or a minicim to the drivetrain if you wished.
2. Why the small banebots motors over something powerful like the RS-775 18v?
3. Why did you choost to have a seperate pair of gears for the absolute encoder instead of simply having an encoder on the versaplanetary output?
4. Tons and tons of machined parts (the most notable to me being the miter gears). What do you expect the turnaround time to be for these?
5. How are you planning on fixing anything if a module breaks? It seems very compact and complex and hard to repair.

Again, very nice swerve drive. It's a bit beyond my team's capabilities, but I hope that you can use this this year and improve this further next year.