[z_beeblebrox]

For the (tank) drivetrain my team is working on, our top priorities are basically:

-Is easy and fast to fabricate, assemble and maintain
-Is robust and rigid
-Is easily adaptable to different configurations
-Allows for mounting of electronics and pneumatics
-Has low center of gravity
-Has low weight
-Is compact

If we were ever to make a swerve, the priorities would likely be similar.