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

Iso View of Pwnage Team 2451 Coaxial Swerve Drive
Highlights: 7 lbs, 3" Nitrile Tires, 2-speed Ball Drive, Absolute Encoder for steering angle, Incremental Encoder for wheel speed
4.9 feet per second actual low speed/6.01 fps theoretical
15.7 feet per second actual high speed/19.12 fps theoretical