Swerve Drive Robot

An omnidirectional robot build on the basis of three of my differential swerve drive modules. The modules are modified a bit, so that the motors are horizontal and not vertical. This way I could make the robot base quite thin.You can see the robot in action here:For assembly details see the video below, or look in the full-assembly.step which contains a fully assembled 3D model. This can also be used as a starting point if you want to make modifications, as it is fully editable.Note that I burned a few of the N20 motors. A larger motor may be preferred, but at least the cooling around the motors should be improved, so that they are not fully enclosed.For driving the motors I use the same driver board as in my Rover. It is modified a bit, as the PCA9685 is not mounted, so that I could use the SCL, SDA and EXTCLK as input for the A3144 hall sensors.If you make remixes of this model and publicly shares the modifications, please consider uploading your changes in an editable format like ST