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Re: Swerve drives
Here's a link to a thread on team mean machine's swerve drive. The most recent BOM counted them at $221 each, so you may want to consider a similar design.
http://www.chiefdelphi.com/forums/sh...ht=2471+swerve
There are a few other threads on them, if your interested. Hope that helps! 
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FLL Team Future imagineers
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2011 International Invite: First place Robot design, Second Place Robot Performance
FRC Team Mean Machine
2012 Seattle: Winning alliance
2013 Portland: Winning alliance
2013 Spokane: Winning alliance
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