[bigbeezy]

Originally Posted by Nebster

I think it's so that when there are no wheels on the side rails, the swerve is contacting the ground. However, when wheels are added to the axles on the side, the swerve is lifted slightly off the ground for some clearance so that the side wheels are the ones doing the driving.

Exactly. The original goal is to have a single platform that programming can use to test out control systems for the various drive systems. With the swerve where it is you don't have to remove the module to switch back to tank drive. Just add wheels. I do like the ideas of modifying it to more easily incorporate additional features.