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Re: pic: Plywood Butterfly Drive Render
What about arranging the power transmission components like this? (Warning: MS Paint Art): 
That would allow all 2 (or 3) CIMs on each side to drive both wheels and move the omni wheels to the inside.
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2012 Utah Regional Rookie All-Star
2013 Phoenix Regional Judge's Award for "design process and prototyping"
2014 Hub City Regional Quality Award, Arizona Regional Excellence in Engineering Award
2015 Arizona East Regional Creativity Award, Winner
2016 Arizona North Regional Finalist, Arizona West Excellence in Engineering Award, Finalist
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