[Tyler2517]

I am looking in to design and manufacture the perfect swerve drive. What would be the best features if you had unlimited resources. Would you use field centric control robot centric or some type of hybrid? 2 speed shifters or a static gearing? What speeds? 4 wheel's or 3 wheel's? Do you care about the weight more then shifting? What wheel size? Any cool layouts that save weight or make it stronger?

Opinions are welcome.