Triple Helix borrowed 2028's swerve drive from 2014 and made some modifications and rewrote the code. Learned some good lessons from their design and also some things that w would have done differently.
We're also working on making up the drop down omni modules that were designed over the summer which can be seen
here. The intent is to allow the front and back wheels to be dropped independently. This setup gives us the following setups: 6wd traction, 4wd omni, and 2x2 w/ omnis in the front or back.