lego technic only "swerve" drive (simple version)
4This is a vastly simplified version of my normal swerve drive robots (which I do plan to upload once I have time). in FIRST robotics referred to as "swerve drive" or "pivot drive" the system consists of at least 2 "modules" that are like powered controlled casters. They can independently rotate a full 360 degrees while driving, allowing for full omni-directional motion while not impeding traction or driving performance. As previously said this is an older version that is not nearly as sophisticated as modern ones but is still good enough to upload. The robot has 2 swerve modules in back and 2 regular casters in front, the swerve modules are controlled by a simple add-subtract differential and driven by 2 XL motors. the claw on the front is a simple 4 bar system with a motor directly driving a worm gear.
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