Omnidirectional XRP Robot

This is a modified XRP chassis with swerve drive modules.I tried to keep most of the original XRP features, so the size and mounting rails are the same. Both the battery and the controller are mounted in a frame as in the original (however vertical), and the o-ring and the motors are the same.The swerve drive allows the wheels to spin and change direction by the use of two stationary motors. The rotation of the motors is transferred to the wheel assembly by the use of two gears rotating around the wheel. The model features both a differential swerve (orange) and coaxial swerve (green). The modules look the same from the outside, but are controlled differently. For an explanation of the differential module see this video: The coaxial version differs, in that the large lower gear is different. It doesn't have teeth on the inside. So the lower gear is not coupled to the axle of the wheel. Instead, it has a tab, that locks the gear to the inner hub (gray). This means, that the lower ge