Just a good thing to keep in mind when building drivetrains:
The best drivetrain is the one that gets you where you need to go, when you need to be there.
Ask yourself:
-Does a 6wd get you there? In a timely mannor? Consistantly?
-Does a swerve get you there faster than a 6wd? Every time, Consistantly?
-Is the difference in performance between a 6wd and a swerve enough to outweigh the potential driver practice that comes with finishing more quickly?
-Could the effort put into the drivetrain be better placed in another part of the robot?
Just trying to keep you honest
, Bryan