I did not think it possible, but @toml21 made Mecanum Chassis work, so, I suppose nothing is impossible.
Has anyone tried serve drive? Nowadays, many FRC teams use swerve drive in their real robots. It would be nice if the XRP (or its variations) can offer a swerve drive chassis so that future teams can start their swerve learning on XRP.
I have seen a couple, I’d have to search around to find them again. The biggest hurdle is the number of motors required for swerve. One solution I saw used 2 main boards talking over the i2c to get the number of motor outputs up.
Another option is to add on a pwm board, like the one from spark fun. That gives you the option to control other motor controllers. I’ve been experimenting with using that to control ESCs and bigger motors for a higher performance mecanum set up. Sadly I haven’t had enough time to really play with it and get it working yet.
There’s 2 that I know of!
The first is here: Omnidirectional XRP Robot by WildWilly | Download free STL model | Printables.com This was a submission to our 3D Printing Challenge, and won first place. It has spots for 2 swerve modules, meaning it can be driven with exactly 4 motors. It has 2 different module designs, differential or coaxial, so you can choose which to use. The designer recently made a video showing the assembly and talking about the design, it’s very informative! If you want the easiest solution, this would probably be the design to go with.
The other is the one you mentioned, here: XRP Differential Swerve Drive Robot! by Jacob Williams | Download free STL model | Printables.com This has 4 modules, each are differential swerve. That means it requires 8 motors, so the designer used 2 control boards. This obviously makes it a bit more complicated to control.