[Gdeaver]

Welcome to the wild world of swerve. On the wheel part I wold be concerned with racking. You might want to consider adding a triangle cross brace to help with this. What wheel position sensor are you using? In my opinion 17 fps is too high. This sacrifices acceleration and precise movement for high end. Put a lower top end on and see what the drivers think. Track your current draw and voltage drop with a comp weight on the bot. Swerve is only as good as your drivers ability to use it. Time to set up the the obstacle course. The AndyMark wheels have good COF when new but wear fast.