247 did this last year but with 4 motors instead of 5. If you saw it, we were a prymid shaped 3 wheel bot. We used a drill motor on each wheel for actual powering and I believe the FP's for the turret spin of them. Through software we only allowed a 160ş range of motion (So as to protect the wiring from a full spin) which in turn gave us 320ş availible motion.
We also, through software, set up 'entry points' for how our "claws" were alligned to go in and grab goals effectively. Having 3 drill motors on each wheel (then later a pneumatic shift attached to the transmission) gave us ample speed to get a goal first and then enough pushing power to steal goals from some of the beefier competition (Such as Truck Town Thunder and the Red Baron).
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On the topic: Crab steering is moreso defined in previous years as a 90ş flip to all wheels.
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