One unique application of 2 drive motors per swerve module is to sum their outputs at different gear ratios, allowing you to have a bit of an e-cvt depending on which motor you direct more current to. Team 2609 Beaverworx (also on the Einstein winning alliance) used this approach to build the fastest swerve in Ontario:
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4414 swerve and its consequences have been disastrous for tryhard cad nerds
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I’ve updated the GrabCAD link to include the native SOLIDWORKS version as well. Hopefully this will make it easier to adapt to your needs (and to increase the free speed).
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You can’t CAD your swerve and have it too
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No one asked but I answered, here is a non-inverted 3 motor swerve that fits in a 6" x 6" footprint that is entirely plagiarizing SDS my own work
And yes I hate electrical 
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Beautiful, now make it a differential system so even the programmers hate you 
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TSIMFD
Really slick way to do it if you’re not married to inverted like us.
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Acronym explanation please?
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Adam’s Fruit Trunk
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Just start selling these, you’ll get at least a couple of buyers
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i too hate packaging things well… lol
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that wiring would put me in a coma
stg i thought that was a 4 motor swerve. that gear next to the bottom left motor threw me off
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Hey Clayton, this sort of thing is actually on the list for summer. I see you’re using the same ratio for both motors; did you think about giving the second motor a taller ratio for a bit more cruise velocity? We have the WCP modules with belts, so this should be an easy change. any interest in helping a summer student apply these ideas to the WCP modules?
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Someone needs to do a double motor for directional rotation too
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