Simplified Swerve Robot Base

This robot base can move like regular left-right differential drive, but the wheels can also be steered to enable swerve movement. Wheels on one side is steered together, reducing complexity. When going sideways, left and right steer angles are ideally equal, but a slight difference can be corrected by controlling both angles based on input from gyro. When going forward or rotating in place, left and right power are controlled based on gyro input as usual in differential drives.

The gripper accessory is designed specifically to pick up 10cm styrofoam cubes.

###Printed parts
Without arm and gripper:
chassis, topframe, bottomframe x1
wheelpod x4
drivegear1, drivegear2, drivegear3, drivegear4, wheel x4
servogear x2
steergear1 x4
ballcage x4
bumper + bumperwheel x2 (optional)

###Additional parts
Without arm and gripper:
FK-180SH DC motor x4
SG90 or MG90 servo x2
Additional servo mounting screws x4, to secure the servo gear to servo arm. Optional.
3mm steel balls x24
M3 screws of various