After a great debate, 1640 did pivot drive again this year. We cleaned sum stuff up and made easy to swap out modules. Still a few tweaks since our first comp. Programming also was cleaned up from last year. Drives great. Advice for any team thinking about going down this path. Start now and design - prototype. This is a very resource taxing endeavor. Evaluate your resources. If you don't have them do not do it. You need to go into a kick off knowing how to do this drive train. Deciding week two to do pivot drive I guarantee will lead to a heap of frustration. Link to this years effort.
http://wiki.team1640.com/index.php?t...II_Drive_Train
When everything is tweaked pivot drive is a joy.