Coaxial Swerve Derivation with Paired Modules

[Tom Line]

Our team is looking at different swerve variations and considering trying one in the off season.

Ether was nice enough to do the derivations for equations and wheel speeds and post them in an excel format for unicorn drives, and straight up "crab" where all the modules are linked is simple to program.

Has anyone performed a similar variation for a paired-module swerve where 2 have 2 sets of modules, when each set has linked steering and drive?

To more explicit, picture 4 modules where the left side modules are turned and driven together, and the right side modules are turned and driven together.