Team 857's 2002 drivetrain reveal. First time most people had seen an omnidirectional drive train. Unfortunately, the video appears to have disappeared from the internet.
http://www.chiefdelphi.com/forums/sh...ad.php?t=22207
Team 118 2007. Fully functional robot in 3 weeks. 6 motor crab drive and a turret.
https://www.youtube.com/watch?v=h3l6Xqts4to