I have a question about the swerve drive you've built. I'm looking at the drawings you posted on the wiki (
http://wiki.team1640.com/images/b/b2/Proto6c.pdf)
I'm a bit confused about which motors are doing what. There seem to be two motors mounted vertically facing upwards, one in line with the wheel and one to the side of the wheel. Which one is driving the wheel itself and which is acting as the pivot, and how do you make a vertical motor drive a wheel in a perpendicular direction? Also, wouldn't it make more sense to have the wheel driving the motor mounted horizontally rather than vertically, and directly drive the wheel?