pic: LEGO Coaxial Swerve Module

[tindleroot]

Originally Posted by carpedav000

Would this work with having one module in the center of the robot and a caster on every corner? That way it takes a lot less gears to drive and only one gear to turn.

Having at least two modules is necessary (3 or 4 is probably best) for two reasons:

1. with only one module, swerving it would move the robot as well since there is no other anchor point for the module to rotate.

2. having multiple modules allows the robot to do tricky maneuvers - one module would allow only omnidirectional movement, and sacrifice the helpful maneuvers.