[sdcantrell56]

I would strongly urge you to consider designing and manufacturing a bulletproof, reliable 6wd before even considering trying a swerve drivetrain. It sounds like you guys have yet to master that so why make the jump to the most difficult drivetrain. While it's fun to design and think through, there is rarely a game when having the abilities of swerve outweighs the tradeoff of added cost, time to manufacture, time to code, difficulty of control, and reliability.