Swerve Degrees of Freedom

[MasterMentor]

I’m trying to learn more about the design of a Swerve Drive, specifically regarding the number of degrees of freedom that am individual swerve module contains. I know that the swerve drive module rotates the wheel module to make it point in different directions, and the power applied to the wheel spins the wheel, so since the module can rotate a spinning force doesn’t that mean that the Swerve module has more than one degree of freedom?

[CooperSurma]

Yes

[gerthworm]

Yes!

[gerthworm]

Jinks someone owes me a soda.

[Alexwins]

Here are some helpful explanations

Coaxial Swerve Explanation

Hi, in this post I’ll be releasing some coaxial swerve modules I color-coded using premade COTS modules and Autodesk Inventor. I’ll explain how the MK4, MK4i, and MAXSwerve modules work mechanically. Firstly, I’ll explain what coaxial swerve is. For those who don’t know, coaxial swerve drive is a common form of swerve in FRC and uses two motors. It allows each wheel to rotate in an independent direction, and spin at an independent speed. Because of this, swerve drivetrains have an unmatched lev…