pic: 2015 Off-season Single Speed Coaxial Swerve Chassis

[asid61]

Originally Posted by GeeTwo

That's the practical point of coaxial - the motor cases are stationary relative to the chassis. Coaxial swerve means that at some point, the steering bearings and the drive axle bearings have the same axis. The far more common configuration is similar to this, where the drive axle goes through the steering bearing.

Also, the wheels look to be 4" diameter, based on a 2.5" diameter CIM.

To add to this, the purpose of going coaxial is usually to prevent wires from being tangled; in a non-coaxial swerve, the motor turns with the module, so a 360* turn would be a full twist of the wires.