[BHS_STopping]

You pretty much need to have each wheel be powered independently if you want to get decent benefits out of using a swerve drive. Steering is somewhat less important (a small amount of slippage is fine) so you can usually tie pairs of wheels together for steering. Diagonal is best.

Crab Drive involves tying all wheels together for steering (i.e. all wheels will face the same direction). 118 did this in 2008 and all wheels shared power. They way they dealt with rotation was by putting their manipulator on a rotating turret. The chassis of the robot didn't rotate at all during a match if I remember correctly.