I drew this up on the weekend to see if I could. I was inspired by the awesome swerve posted here: https://www.chiefdelphi.com/media/photos/45452? and I remembered the differential swerve idea posted here: https://www.chiefdelphi.com/forums/showthread.php?t=152705. My goal was to come up with a compact swerve module, run by two 775 pros, which handled both power and steering (via differential speed). Here’s the (incomplete) result.
The advantage is that, even if you cap the 775 pros at 10V to avoid burnout, and you leave 100W in reserve for steering, the two motors could put down 450W onto the carpet, which is nearly 30% more than a single CIM. It’s also saves like two pounds per module.
The disadvantages are many The gearbox needs some custom gears presently, although there’s probably other arrangements that would work with COTS parts. Good control of the speed of each motor is critical, and a failure of either motor, or any encoder/pot (not shown) would not be graceful.
I probably won’t build this, but I thought I’d throw it out there for inspiration and laughs.