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Our team is currently going through a similar debate. We think a swerve drive is great but are unsure if we can get one working reliably over the summer. In the event that we can't, we will be trying an octacanum drive train. For those of you who don't know, with an octacanum drive train you can toggle between high grip wheels and mecanum wheels. Secret city wildbots (4265) built a fabulous octacanum chassis this year. I would possibly look up an octacanum drivetrain because you can get the pushing power of a standard drive with the maneuverability of an omnidirectional drivetrain like a swerve or mecanum. Secret city wildbots (4265) can be found on YouTube under "dragonfly reveal".
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