[thefro526]

If your team has their hearts set on building a coaxial swerve drive for this game, you may want to look into using the team 221 modules. Using an off the shelf module with cut down on the amount of development you'll need to do significantly, just leaving you to design a frame, steering system and then working on the controls.

That being said, I'd listen to those in thread that speak against building a swerve drive during the build season - without having prototyped one in the off-season first. By the time you get the bugs worked out, your season may be over...