Hate to resurrect a thread, but a friend and I decided to have some fun with our access to some NXT 2.0 kits and made a
2 wheel swerve using this design. The stacking he came up with is the most aesthetically pleasing thing I've seen all month. Didn't have time to program it, and I doubt we could have since I believe the nxt 2.00 motors use tachometers instead of encoders.
Still fun to drive though, with one phone controlling steering and the other controlling speed it vaguely resembles swerve movement.