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Swerve Module - But it's differential.
Swerve drive is a drive train allowing the wheels to be vectored in any direction. The advantage of this is that all the force the motors output goes towards the direction you want to go.
A differential swerve allowed for both the drive and steer motors to control both axis. This way, when not turning the wheels both motors are able to contribute going very very fast. Vrooom!
FRC Build System - Mainly 3D printed and CNC'ed in house
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BOM: BOM
CAD: CAD
Software: WPIlib and 7520 - UltimateSwerveBase