[AlecMataloni]

From what I've seen and from what our mentors keep telling me, 2009 was one of the best years for a swerve drive. The wide open field, slippery floor, and a lack of pinning restrictions gave swerve teams a HUGE advantage over the rest of the teams, as maneuvering out of pins was exponentially easier with a multi-directional drivetrain. We ran our usual crab setup (4cims, 1 per module) with traction control and saw awesome results.