I know this is a pretty niche question, but I'll ask it anyways. Does anyone know anything about Differential Swerve drive? Maybe programming/building tips?
It seems like an overly-complicated and expensive way of driving and steering wheels. I'm assuming you would only use it in scenarios where you need to keep the electrical components above the wheels. Of course, you could just use the equally expensive alternative of hub motors with shrouded wheel covers. At least, then you wouldn't have to deal with excess moving parts.
Please don't do it. It's not worth it, in cost and time.
Even if we did it sorta like this?
It's still really complicated. Coordinating all the movements in code is going to be tough.