Originally Posted by Jared

I've seen butterfly drives before. I've done some more research, and this is more like 1625 in 2011 with the rotating front piece (http://www.chiefdelphi.com/forums/sh...d.php?t=92650), but with omni wheels. The advantage is when you put down the front wheels (which will be omni wheels), the back omni wheel touches the ground, and you can go forward/back and left/right; you don't have to pick. The front wheels are driven by the left gearbox, and control strafing, and the back omni wheels are driven by the right gearbox, and control normal forward/back. You can't turn in this mode. You don't need a third gearbox to get strafing motion though.